CN109649359B - Automobile automatic emergency braking control method, system, equipment and storage medium - Google Patents
Automobile automatic emergency braking control method, system, equipment and storage medium Download PDFInfo
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- CN109649359B CN109649359B CN201910047302.7A CN201910047302A CN109649359B CN 109649359 B CN109649359 B CN 109649359B CN 201910047302 A CN201910047302 A CN 201910047302A CN 109649359 B CN109649359 B CN 109649359B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
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Abstract
The invention provides a method, a system, equipment and a storage medium for controlling automatic emergency braking of an automobile, wherein the method comprises the following steps: if a brake disc water removal function starting signal of the vehicle body electronic stabilization system is received, selecting a prestored rainy-day braking condition as a current emergency braking triggering condition, and otherwise, selecting a prestored non-rainy-day braking condition as a current emergency braking triggering condition; acquiring target detection data of an automobile, and judging whether the target detection data meets the current trigger condition of emergency braking; if yes, an automatic emergency braking function of the automobile is started. By adopting the scheme of the invention, whether the current day is rainy or not is judged according to the water removal function starting signal of the brake disc, different danger evaluation conditions are adopted in rainy days and non-rainy days, the effectiveness of emergency braking in rainy days is improved, and the driving safety of the automobile is improved.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to an automatic emergency braking control method, system, equipment and storage medium for an automobile.
Background
With the continuous development of automobile control technology, automobiles increasingly adopt automatic control nowadays. The automatic Emergency braking system (AEB) performs danger assessment according to detection of a front target of the automobile and a relative position relation between the front target of the automobile and the automobile, and triggers an automatic Emergency braking function if danger reaches a certain level.
However, in the existing automatic emergency braking control logic, only one working condition is adopted for danger assessment, and different situations in actual road conditions are not considered, for example, if the same danger assessment condition is still adopted in rainy days, the accuracy of danger assessment is greatly reduced, and thus certain potential safety hazard is formed.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide an automatic emergency braking control method, system, equipment and storage medium for an automobile, which are used for judging whether the automobile is rainy or not according to a brake disc water removal function starting signal, adopting different danger assessment conditions in rainy days and non-rainy days, improving the effectiveness of emergency braking in rainy days and improving the driving safety of the automobile.
The embodiment of the invention provides an automatic emergency braking control method for an automobile, which comprises the following steps:
receiving a brake disc water removal function starting signal of an electronic vehicle body stabilizing system;
selecting a prestored rainy-day braking condition as a trigger condition of the current emergency braking;
acquiring target detection data of an automobile, and judging whether the target detection data meets the current trigger condition of emergency braking;
if yes, an automatic emergency braking function of the automobile is started.
Optionally, the method further comprises the following steps:
the vehicle body electronic stabilization system receives rainfall detection data of a rainfall sensor of an automobile;
and the vehicle body electronic stabilization system judges whether the rainfall detection data is greater than a first rainfall threshold value, and if so, the vehicle body electronic stabilization system sends a brake disc water removal function starting signal.
Optionally, if the rainfall detection data is greater than a first rainfall threshold, the vehicle body electronic stability system sends a brake disc water removal function starting signal every predetermined time;
after the automobile body electronic stabilization system sends a brake disc water removal function starting signal, the brake disc water removal waiting signal is set, and when the rainfall detection data is smaller than a second rainfall threshold, the brake disc water removal waiting signal is reset, and the second rainfall threshold is smaller than the first rainfall threshold.
Optionally, the method further comprises the following steps:
if the brake disc water removal function starting signal of the vehicle body electronic stabilization system is not received, judging whether a brake disc water removal waiting signal is set or not;
if so, selecting the prestored rainy-day braking condition as the trigger condition of the current emergency braking.
Optionally, the acquiring the target detection data of the automobile includes the following steps:
receiving detection data of a radar and detection data of a camera;
and identifying a specific target according to the detection data of the radar and the detection data of the camera, and calculating the relative position data and the relative speed data of the specific target and the self vehicle.
Optionally, the relative position data of the specific target and the own vehicle comprises the relative distance between the specific target and the own vehicle;
the relative speed data of the specific target and the host vehicle comprises the relative speed of the specific target and the host vehicle and the acceleration of the specific target.
Optionally, the triggering condition of emergency braking comprises a minimum braking distance for starting braking;
the relationship between the pre-stored rainy braking condition and the pre-stored non-rainy braking condition is as follows:
and under the condition that the target detection data of the automobile is the same, the minimum braking distance for starting braking in a rainy day is greater than the minimum braking distance for starting braking in a non-rainy day.
Optionally, the determining whether the target detection data meets a trigger condition of current emergency braking includes the following steps:
calculating the minimum braking distance of the current starting brake according to the target detection data;
judging whether the relative distance between the specific target and the self vehicle is smaller than or equal to the minimum braking distance of the current starting brake;
if so, the braking function of the automobile is started.
Optionally, if the triggering condition of the current emergency braking is a non-rainy braking condition, calculating the minimum braking distance of the current start braking according to the following formula:
wherein d iss1Braking distance, v, for starting braking in non-rainy weather1Is the speed of the bicycle, a1For braking acceleration of the vehicle, a2Acceleration for a specific target, t2Delay time for braking, vrelRelative speed of a particular target to the host vehicle, d0Presetting a safety distance between the automobile and a specific target after the automobile is braked and stopped;
if the triggering condition of the current emergency braking is the braking condition in rainy days, calculating the minimum braking distance of the current starting braking according to the following formula:
wherein k is a rainy day adjustment coefficient, and k is greater than 1.
The embodiment of the invention also provides an automobile automatic emergency braking control system, which is applied to the automobile automatic emergency braking control method, and the system comprises the following components:
the brake disc water removal monitoring module is used for monitoring a brake disc water removal function starting signal of the vehicle body electronic stabilization system;
the trigger condition selection module is used for selecting a prestored rainy day brake condition as a trigger condition of current emergency braking when a brake disc water removal function starting signal of the vehicle body electronic stabilization system is received;
the risk evaluation module is used for acquiring target detection data of the automobile and judging whether the target detection data meets the current trigger condition of emergency braking;
and the automatic braking module is used for starting the automatic emergency braking function of the automobile when the target detection data meets the triggering condition of the current emergency braking.
The embodiment of the invention also provides an automatic emergency braking control device for an automobile, which comprises:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to execute the steps of the method for controlling automatic emergency braking of a vehicle via execution of the executable instructions.
The embodiment of the invention also provides a computer readable storage medium for storing a program, and the program realizes the steps of the automatic emergency braking control method of the automobile when being executed.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
The automobile automatic emergency braking control method, the system, the equipment and the storage medium provided by the invention have the following advantages:
the invention solves the problems in the prior art, establishes different danger assessment conditions in rainy days and non-rainy days in consideration of different ground adhesion coefficients in rainy days and non-rainy days, judges whether the current rainy days are rainy days or not according to the brake disc water removal function starting signal, selects the corresponding danger assessment condition according to whether the current rainy days are rainy days or not, improves the effectiveness of emergency braking in rainy days, reduces the occurrence of accidental collision between an automobile and a specific target, and improves the driving safety of the automobile.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
FIG. 1 is a flow chart of an automatic emergency braking control method of a vehicle of the present invention;
FIG. 2 is a schematic diagram of the automatic emergency braking control system of the present invention;
FIG. 3 is a schematic structural diagram of an emergency braking control system of a vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic view of an automatic emergency braking control apparatus for a vehicle according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
As shown in fig. 1, in order to solve the above technical problem, an embodiment of the present invention provides an automatic emergency braking control method for an automobile, where the method includes the following steps:
s100: receiving a brake disc water removal function starting signal of an electronic vehicle body stabilizing system;
the Brake Disk Wiper (BDW) is an additional value-added function developed on the basis of a vehicle body electronic stabilizing system. Because the water film or water drops exist between the brake disc and the calipers after raining to influence the braking efficiency, the brake water removal function actively exerts certain pressure between the brake disc and the calipers to wipe the water drops between the brake disc and the calipers, so that the brake pad has good preparation performance during braking.
S200: selecting a prestored rainy-day braking condition as a trigger condition of the current emergency braking;
s300: acquiring target detection data of an automobile, and judging whether the target detection data meets the current trigger condition of emergency braking;
s400: if yes, the emergency braking function of the automobile is started.
Therefore, the automatic emergency braking control method for the automobile, provided by the invention, considers that the adhesion coefficients of the ground are different in rainy days and non-rainy days, establishes different danger assessment conditions in rainy days and non-rainy days, judges whether the current rainy days are rainy days according to the brake disc water removal function starting signal, selects the corresponding danger assessment conditions according to whether the current rainy days are rainy days through the steps S100 and S200, judges whether the triggering conditions of the current emergency braking are met through the step S300, improves the effectiveness of the emergency braking in rainy days, reduces the occurrence of accidental collision between the automobile and a specific target, and improves the driving safety of the automobile.
And if the starting signal of the water removal function of the brake disc of the electronic vehicle body stabilization system is not received, the current non-rainy day is indicated, and the prestored non-rainy day braking condition is selected as the current emergency braking triggering condition. In step S300, if the current target detection data does not satisfy the current trigger condition for emergency braking, it indicates that the emergency braking function does not need to be started, and the target detection data may be acquired again after waiting for a preset interval time, and it is determined whether the target detection data satisfies the current trigger condition for emergency braking.
As shown in fig. 2, an embodiment of the present invention further provides an automatic emergency braking control system for an automobile, which is applied to the automatic emergency braking control method for an automobile, and the system includes:
the brake disc water removal monitoring module M100 is used for monitoring a brake disc water removal function starting signal of the vehicle body electronic stabilization system;
the trigger condition selection module M200 is used for selecting a prestored rainy day brake condition as a trigger condition of the current emergency brake when a brake disc water removal function starting signal of the vehicle body electronic stabilization system is received;
the risk assessment module M300 is used for acquiring target detection data of the automobile and judging whether the target detection data meets the current trigger condition of emergency braking;
and the automatic braking module M400 is used for starting the emergency braking function of the automobile when the target detection data meets the triggering condition of the current emergency braking.
Fig. 3 is a schematic structural diagram of an automatic emergency braking control system of an automobile according to an embodiment of the present invention, wherein cooperation between the automatic emergency braking control system of the automobile and other system modules of the automobile is shown.
In this embodiment, the electronic body stability system (EPS) obtains rainfall detection data from a rainfall sensor of the automobile as a criterion for determining whether to activate the water removal function of the brake disc. Specifically, the automatic emergency braking control method for the automobile further comprises the following steps:
the vehicle body electronic stabilization system receives rainfall detection data of a rainfall sensor of an automobile;
and the vehicle body electronic stabilization system judges whether the rainfall detection data is greater than a first rainfall threshold value, and if so, the vehicle body electronic stabilization system sends a brake disc water removal function starting signal.
Further, if the rainfall detection data is larger than a first rainfall threshold, the vehicle body electronic stabilization system sends a brake disc water removal function starting signal every preset time; that is, the brake disc water removal function start signal is sent out at intervals, not continuously, for example, after 5 minutes after 5 seconds of activation. In the time interval that two times brake disc dewatering function start signals sent, in order to guarantee that the automatic emergency braking control system of the automobile can know the process that the rainfall increases in real time, the embodiment further adds a brake disc dewatering waiting signal in the electronic stability system of the automobile body, when the brake disc dewatering waiting signal is set, it indicates that the rainfall detection data is continuously greater than the first rainfall threshold value, and only when the rainfall detection data is less than the second rainfall threshold value (the second rainfall threshold value is less than the first rainfall threshold value), the brake disc dewatering waiting signal is reset.
Therefore, in this embodiment, after the body electronic stability system sends out the brake disc water removal function start signal, the brake disc water removal waiting signal is set, and when the rainfall detection data is smaller than a second rainfall threshold, the brake disc water removal waiting signal is reset, and the second rainfall threshold is smaller than the first rainfall threshold.
Correspondingly, the automatic emergency braking control method for the automobile further comprises the following steps:
if the brake disc water removal function starting signal of the vehicle body electronic stabilization system is not received, judging whether a brake disc water removal waiting signal is set or not;
if so, selecting the prestored rainy-day braking condition as the trigger condition of the current emergency braking.
In this embodiment, data around the vehicle is collected by a radar and a camera, and specifically, the acquiring target detection data of the vehicle includes the following steps:
the target detection module receives detection data of a radar and detection data of a camera;
and identifying a specific target according to the detection data of the radar and the detection data of the camera, and calculating the relative position data and the relative speed data of the specific target and the self vehicle. The specific object here may be other driving cars, or cars parked at the side of the road, or large obstacles such as large rocks, fences, etc.
In this embodiment, the relative position data of the specific target and the own vehicle includes a relative distance of the specific target and the own vehicle;
the relative speed data of the specific target and the host vehicle comprises the relative speed of the specific target and the host vehicle and the acceleration of the specific target. If the specific target is a stationary object, the relative speed of the specific target and the own vehicle is determined only by the speed of the own vehicle, and the acceleration of the specific target is zero. If the specific object is a decelerating car, the acceleration is negative. During detection of the radar and the camera, position data of a specific target in a specific period of time needs to be collected, so that the speed and the acceleration of the specific target are calculated.
Further, the trigger condition for brake activation includes a minimum brake distance for brake activation;
the relationship between the pre-stored rainy braking condition and the pre-stored non-rainy braking condition is as follows:
and under the condition that the target detection data of the automobile is the same, the minimum braking distance for starting braking in a rainy day is greater than the minimum braking distance for starting braking in a non-rainy day.
That is, for rainy days, braking is required in advance when the distance to a specific target is close, as compared to non-rainy days. This is because the ground adhesion on rainy days is less than that on non-rainy days. If the minimum stopping distance on non-rainy days is still used, a collision accident with a specific target may occur.
In this embodiment, the determining whether the target detection data meets the current trigger condition for emergency braking includes the following steps:
calculating the minimum braking distance of the current starting brake according to the target detection data;
judging whether the relative distance between the specific target and the self vehicle is smaller than or equal to the minimum braking distance of the current starting brake;
if so, the braking function of the automobile is started.
Further, if the triggering condition of the current emergency braking is a non-rainy braking condition, calculating the minimum braking distance of the current starting braking according to the following formula:
wherein d iss1Braking distance, v, for starting braking in non-rainy weather1Is the speed of the bicycle, a1For braking acceleration of the vehicle, a2Acceleration for a specific target, t2Delay time for braking, vrelRelative speed of a particular target to the host vehicle, d0Presetting a safety distance between the automobile and a specific target after the automobile is braked and stopped;
if the triggering condition of the current emergency braking is the braking condition in rainy days, calculating the minimum braking distance of the current starting braking according to the following formula:
wherein k is a rainy day adjustment coefficient, and k is greater than 1.
The value of k can be selected according to needs, for example, 1.1 to 1.5, and further 1.2, but the invention is not limited thereto, and the value of k can be selected from other value ranges larger than 1, and all the values are within the protection scope of the invention.
Further, considering that the ground adhesion coefficients are greatly different in different rainfall weathers, the invention can also set the step-shaped k value according to the difference of the rainfall. For example, when the rainfall collected by the rainfall sensor is greater than the first preset threshold and less than the third preset threshold, the k value is set to be k1, and when the rainfall is greater than the third preset threshold, the k value is set to be k 2. Since the third preset threshold is greater than the first preset threshold, the value of k2 is set to be greater than the value of k 1. Further, the automatic emergency braking control method for the automobile can further comprise the following steps:
presetting a mapping relation between a k value and a rainfall range;
judging the rainfall range in which the rainfall detection data of the current rainfall sensor is positioned, and selecting a corresponding k value according to the current rainfall range;
and calculating the minimum braking distance of the current start braking according to the selected k value.
Therefore, after judging that the current day is not rainy through the brake disc water removal starting signal or the brake disc water removal waiting signal, the embodiment multiplies the minimum braking distance for starting the emergency braking function in a non-rainy day by k, thereby carrying out emergency braking in advance and reducing the probability of collision, so that braking energy recovery can be carried out at a place farther away (the distance is changed to be k times of the original distance), and the generator and the hydraulic braking system are coordinated through the electronic stability system of the vehicle body, so that more energy is realized by the generator to improve the energy recovery efficiency and save energy; in the energy recovery process, the state of a storage battery and the state of a generator are monitored by a vehicle body electronic stability system to determine recoverable torque, and the residual torque is distributed to a hydraulic braking system to realize energy recovery and ensure braking efficiency; furthermore, the braking implementation of the invention is not limited to body electronic stability systems, and all hydraulic or pneumatic means can be implemented, such as IBOOSTER.
The embodiment of the invention also provides automatic emergency braking control equipment for the automobile, which comprises a processor; a memory having stored therein executable instructions of the processor; wherein the processor is configured to execute the steps of the method for controlling automatic emergency braking of a vehicle via execution of the executable instructions.
Therefore, the automatic emergency braking control equipment for the automobile, provided by the invention, considers that the adhesion coefficients of the ground are different in rainy days and non-rainy days, establishes different danger assessment conditions in rainy days and non-rainy days, judges whether the current rainy days are rainy days according to the water removal function starting signal of the brake disc, and judges whether the triggering condition of the current emergency braking is met or not according to the judgment that the corresponding danger assessment condition is the rainy days by the processor, so that the effectiveness of the emergency braking in rainy days can be improved.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" platform.
An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 4. The electronic device 600 shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 4, the electronic device 600 is embodied in the form of a general purpose computing device. The combination of the electronic device 600 may include, but is not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting different platform combinations (including memory unit 620 and processing unit 610), a display unit 640, etc.
Wherein the storage unit stores program code executable by the processing unit 610 to cause the processing unit 610 to perform steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of the present specification. For example, the processing unit 610 may perform the steps as shown in fig. 1.
The storage unit 620 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)6201 and/or a cache memory unit 6202, and may further include a read-only memory unit (ROM) 6203.
The memory unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
The embodiment of the invention also provides a computer readable storage medium for storing a program, and the program realizes the steps of the automatic emergency braking control method of the automobile when being executed. In some possible embodiments, aspects of the present invention may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of this specification, when the program product is run on the terminal device.
Referring to fig. 5, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
In summary, compared with the prior art, the method, the system, the device and the storage medium for controlling the automatic emergency braking of the automobile provided by the invention have the following advantages:
the invention solves the problems in the prior art, establishes different danger assessment conditions in rainy days and non-rainy days in consideration of different ground adhesion coefficients in rainy days and non-rainy days, judges whether the current rainy days are rainy days or not according to the brake disc water removal function starting signal, selects the corresponding danger assessment condition according to whether the current rainy days are rainy days or not, improves the effectiveness of emergency braking in rainy days, reduces the occurrence of accidental collision between an automobile and a specific target, and improves the driving safety of the automobile.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (9)
1. An automatic emergency braking control method for an automobile is characterized by comprising the following steps:
receiving a brake disc water removal function starting signal of an electronic vehicle body stabilizing system;
selecting a prestored rainy-day braking condition as a trigger condition of the current emergency braking;
acquiring target detection data of an automobile, and judging whether the target detection data meets the current trigger condition of emergency braking;
if yes, starting the automatic emergency braking function of the automobile;
the method further comprises the steps of:
the vehicle body electronic stabilization system receives rainfall detection data of a rainfall sensor of an automobile;
the vehicle body electronic stabilization system judges whether the rainfall detection data is larger than a first rainfall threshold value, if so, the vehicle body electronic stabilization system sends a brake disc water removal function starting signal every preset time;
after the electronic vehicle body stabilizing system sends a brake disc water removal function starting signal, setting a brake disc water removal waiting signal, and resetting the brake disc water removal waiting signal when the rainfall detection data is smaller than a second rainfall threshold which is smaller than the first rainfall threshold;
the method further comprises the steps of:
if the brake disc water removal function starting signal of the vehicle body electronic stabilization system is not received, judging whether a brake disc water removal waiting signal is set or not;
if so, selecting the prestored rainy-day braking condition as the trigger condition of the current emergency braking.
2. The automatic emergency braking control method for automobile according to claim 1, wherein the acquiring target detection data of the automobile comprises the steps of:
receiving detection data of a radar and detection data of a camera;
and identifying a specific target according to the detection data of the radar and the detection data of the camera, and calculating the relative position data and the relative speed data of the specific target and the self vehicle.
3. The automatic emergency brake control method for automobile according to claim 2, wherein the relative position data of the specific object to the own automobile includes a relative distance of the specific object to the own automobile;
the relative speed data of the specific target and the host vehicle comprises the relative speed of the specific target and the host vehicle and the acceleration of the specific target.
4. The automatic emergency brake control method of claim 3, wherein the trigger condition for emergency braking includes a minimum braking distance for initiating braking;
the relationship between the pre-stored rainy braking condition and the pre-stored non-rainy braking condition is as follows:
and under the condition that the target detection data of the automobile is the same, the minimum braking distance for starting braking in a rainy day is greater than the minimum braking distance for starting braking in a non-rainy day.
5. The automatic emergency braking control method for the automobile according to claim 4, wherein the step of judging whether the target detection data meets the triggering condition of the current emergency braking comprises the following steps:
calculating the minimum braking distance of the current starting brake according to the target detection data;
judging whether the relative distance between the specific target and the self vehicle is smaller than or equal to the minimum braking distance of the current starting brake;
if so, the braking function of the automobile is started.
6. The automatic emergency braking control method of an automobile according to claim 1, wherein if the triggering condition of the current emergency braking is a non-rainy braking condition, the minimum braking distance of the current start braking is calculated according to the following formula:
wherein d iss1Braking distance, v, for starting braking in non-rainy weather1Is the speed of the bicycle, a1For braking acceleration of the vehicle, a2Acceleration for a specific target, t2Delay time for braking, vrelRelative speed of a particular target to the host vehicle, d0For braking and stopping automobilesThen the preset safety distance between the target and the specific target;
if the triggering condition of the current emergency braking is the braking condition in rainy days, calculating the minimum braking distance of the current starting braking according to the following formula:
wherein k is a rainy day adjustment coefficient, and k is greater than 1.
7. An automatic emergency braking control system for a vehicle, applied to the automatic emergency braking control method for a vehicle according to any one of claims 1 to 6, the system comprising:
the brake disc water removal monitoring module is used for monitoring a brake disc water removal function starting signal of the vehicle body electronic stabilization system;
the trigger condition selection module is used for selecting a prestored rainy day brake condition as a trigger condition of current emergency braking when a brake disc water removal function starting signal of the vehicle body electronic stabilization system is received;
the risk evaluation module is used for acquiring target detection data of the automobile and judging whether the target detection data meets the current trigger condition of emergency braking;
and the automatic braking module is used for starting the automatic emergency braking function of the automobile when the target detection data meets the triggering condition of the current emergency braking.
8. An automatic emergency braking control apparatus for a vehicle, comprising:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the method of any one of claims 1 to 6 via execution of the executable instructions.
9. A computer-readable storage medium storing a program, wherein the program is executed to implement the steps of the automatic emergency brake control method for a vehicle of any one of claims 1 to 6.
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| CN110979278B (en) * | 2019-12-31 | 2021-06-29 | 浙江合众新能源汽车有限公司 | Automatic emergency braking control method based on rainfall |
| CN112224158B (en) * | 2020-09-16 | 2022-11-25 | 浙江吉利控股集团有限公司 | Safe driving assistance method and device in rainy and snowy weather, electronic equipment and storage medium |
| CN115071689A (en) * | 2021-03-10 | 2022-09-20 | 长沙中车智驭新能源科技有限公司 | Vehicle emergency braking method and system and vehicle |
| CN112874517B (en) * | 2021-04-29 | 2021-10-22 | 天津所托瑞安汽车科技有限公司 | Vehicle AEB brake control method and vehicle |
| CN115230665B (en) * | 2022-07-29 | 2023-10-03 | 重庆长安汽车股份有限公司 | Method and device for removing water and ice from brake disc, vehicle and storage medium |
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| CN106476784B (en) * | 2015-08-28 | 2019-02-19 | 长城汽车股份有限公司 | A kind of brake disc removes water defrosting system, water-eliminating method, Defrost method and automobile |
| CN106240553B (en) * | 2016-08-16 | 2019-02-05 | 天津英创汇智汽车技术有限公司 | Automotive disc brake water-eliminating method based on electronic stability controlling system |
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