CN112590735B - Emergency braking method and device based on driver habits and vehicle - Google Patents
Emergency braking method and device based on driver habits and vehicle Download PDFInfo
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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
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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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
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Abstract
The invention provides an emergency braking method based on driver habits, which is applied to a vehicle, wherein a driver model can be constructed based on the frequency of the conventional emergency braking function triggered by a driver and the conventional dangerous state frequency, and the driver model, namely driving correction parameters, are obtained when the vehicle is powered on; obtaining second warning time by combining and correcting the driving correction parameters and the preset first warning time, and comparing the collision time of the vehicle and the obstacle of the front vehicle and the second warning time by updating the working mode of the automatic emergency braking system; the number of times that the vehicle takes over the use of emergency braking is improved better in this way dynamically based on the number and ability of the driver to use the AEB in the past; aiming at drivers with cautious driving habits and drivers with safer driving habits, the warning time is respectively corrected, so that the triggering of the emergency braking function is more suitable for the style of the drivers, and the driving experience of the drivers can be improved on the basis of ensuring the safety.
Description
Technical Field
The invention relates to the technical field of intelligent driving of vehicles, in particular to an emergency braking method and device based on driver habits and a vehicle.
Background
An automatic Emergency Braking System (AEB) method of an intelligent vehicle is always the most important System in automobile safety, most vehicles carrying intelligent driving in the market currently carry the AEB System, but the design and the triggering of the AEB System are completed based on the crash time and the dead board is used for the design and the control based on the AEB System. The existing emergency braking method and system do not consider the uniqueness of each driver and cannot adapt to different driving styles of different drivers, and some drivers hope to have smaller collision time to trigger AEB in order to pursue driving experience feeling in interaction with the drivers, so that the problem that the drivers just start to step on the brake subjectively when braking, and an automobile intelligent system judges that the operating condition of the AEB is to be entered, so that the driver experience is influenced and even danger is caused is solved, and therefore the emergency braking method based on the habits of the drivers is needed.
Disclosure of Invention
The invention provides an emergency braking method and device based on driver habits and a vehicle, and aims to solve the technical problems in the background art.
The invention provides an emergency braking method based on driver habits, which comprises the following steps:
acquiring driving correction parameters of a driver of the vehicle, wherein the driving correction parameters are obtained by combining and calculating emergency braking triggering frequency and dangerous state frequency when the driver drives, and one driver corresponds to one driving correction parameter;
calculating in real time to obtain the collision time of the vehicle and the front obstacle;
correcting the first warning time through the driving correction parameters to obtain second warning time, wherein the first warning time is preset safety time of the vehicle;
comparing the collision time with the second warning time;
and when the collision time is less than or equal to the second warning time, triggering an emergency braking function.
Further, the difference value between the first warning time and the second warning time is not greater than a warning value.
Further, the "correcting the first guard time by the driving correction parameter to obtain a second guard time" includes:
when the driving correction parameter is larger than a preset check parameter, reducing the first warning time to obtain a second warning time;
and when the driving correction parameter is smaller than a preset check parameter, increasing the first warning time to obtain the second warning time.
Further, the "correcting the first guard time by the driving correction parameter to obtain a second guard time" specifically includes:
and the second warning time is equal to the first warning time plus the preset check parameter-driving correction parameter.
Further, the step of obtaining driving correction parameters of the driver of the vehicle, where the driving correction parameters are obtained by combining the emergency braking trigger frequency and the dangerous state frequency when the driver drives, includes:
obtaining a first associated parameter t according to the emergency braking trigger frequency1；
Obtaining a second associated parameter t according to the dangerous state frequency2；
According to the first correlation parameter t1With the second associated parameter t2Calculating to obtain the driving correction parameter T, wherein the calculation formula is as follows:
T＝k1*t1+k2*t2，
wherein k is1、k2Is a constant of proportionality, and k1、k2Not more than 0.01.
Further, the step of obtaining a first associated parameter t according to the emergency braking trigger frequency1The method specifically comprises the following steps:
when the emergency braking trigger frequency is smaller than a first preset warning value, setting the first correlation parameter as 0;
when the emergency braking trigger frequency is equal to a first preset warning value, setting the first correlation parameter as 1;
and when the emergency braking triggering frequency is greater than a first preset warning value, setting the first associated parameter as the ratio of the emergency braking triggering frequency to the first preset warning value.
Further, the step of obtaining a second associated parameter t according to the dangerous state frequency2The method specifically comprises the following steps:
when the dangerous state frequency is less than a second preset warning value, setting the second associated parameter t2Is 0;
when the dangerous state frequency is equal to a second preset warning value, setting the second correlation parameter t2Is 1;
when the dangerous state frequency is greater than a second preset warning value, setting the second associated parameter t2Is the ratio of the emergency braking trigger frequency to the second preset warning value.
Further, the "calculating in real time to obtain the collision time between the host vehicle and the obstacle ahead" specifically includes:
obtaining the speed v of the vehiclesVehicle speed v of a front obstaclefAnd the distance d between the two, and calculating the time to collision TTC of the two, the calculation formula is as follows,
the invention also provides an emergency braking device based on driver habits, wherein a first warning time is preset for the vehicle, and the device comprises:
the acquisition module is used for acquiring driving correction parameters of a driver of the vehicle, wherein the driving correction parameters are obtained by combining and calculating emergency braking triggering frequency and dangerous state frequency when the driver drives, and one driver corresponds to one driving correction parameter;
the collision time calculation module is used for calculating the collision time between the vehicle and the front obstacle in real time;
the correction module is used for correcting the first warning time through the driving correction parameters to obtain second warning time;
the comparison module is used for comparing the collision time with the second warning time;
and the emergency braking module is used for triggering an emergency braking function when the collision time is less than or equal to the second warning time.
The present invention also provides a vehicle comprising:
one or more processors;
a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the driver habit based emergency braking method described above.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
the embodiment of the invention can construct the driver model based on the frequency of the driver triggering the emergency braking function and the conventional dangerous state frequency, and obtain the driver model, namely the driving correction parameter when the vehicle is electrified; obtaining second warning time by combining and correcting the driving correction parameters and the preset first warning time, and comparing the collision time of the vehicle and the obstacle of the front vehicle and the second warning time by updating the working mode of the automatic emergency braking system; the number of times that the vehicle takes over the use of emergency braking is improved better in this way dynamically based on the number and ability of the driver to use the AEB in the past; aiming at drivers with cautious driving habits and drivers with safer driving habits, the warning time is respectively corrected, so that the triggering of the emergency braking function is more suitable for the style of the drivers, and the driving experience of the drivers can be improved on the basis of ensuring the safety.
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.
Drawings
Fig. 1 is a flowchart illustrating steps of an emergency braking method based on driver habits according to an embodiment of the present invention.
Fig. 2 is a flowchart of calculating a driving correction parameter according to an embodiment of the present invention.
Fig. 3 is a block diagram of an emergency braking apparatus based on driver's habits according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, or operations, but do not preclude the presence or addition of one or more other features, integers, steps, operations, or groups thereof.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It will be appreciated by those skilled in the art that the terms "application," "application program," "application software," and the like, as used herein, are intended to refer to a computer software product electronically-adapted to be electronically-constructed, from a collection of computer instructions and associated data resources, in accordance with the principles of the present invention. Unless otherwise specified, such nomenclature is not itself limited by the programming language class, level, or operating system or platform upon which it depends. Of course, such concepts are not limited to any type of terminal.
Referring to fig. 1, the present invention provides an emergency braking method based on driver habits, the emergency braking method including the steps of:
s100, obtaining driving correction parameters of a driver of the vehicle, wherein the driving correction parameters are obtained by combining and calculating emergency braking triggering frequency and danger state frequency when the driver drives, and one driver corresponds to one driving correction parameter.
Each driver has unique identity information, when the driver passes corresponding identity information verification and drives, the automobile acquires and records driving information (such as emergency brake triggering frequency and dangerous state frequency) of the driver, and establishes a driver model (such as driving correction parameters) according to the driving information. When the driver drives next time, the automobile identifies the identity of the driver and obtains the corresponding driving correction parameters so as to adjust the emergency braking triggering frequency of the automobile according to the styles of different drivers. And the driver can update the driving information of the driver every time of driving, and the driving correction parameters of the driver can be changed accordingly.
Specifically, the emergency braking triggering frequency refers to the number of times of emergency braking triggering for every 1 kilometer of the driving journey of the driver, and the dangerous state frequency refers to the time record when the automobile enters the front collision early warning state, namely the dangerous time of the driving time of the driver in every hundred hours.
In this embodiment, the emergency braking triggering frequency and the dangerous state frequency when the driver drives may be the emergency braking triggering frequency and the dangerous state frequency in the past driving experience of the driver, or may be the emergency braking triggering frequency and the dangerous state frequency obtained by combining the current real-time driving and the past driving habits of the driver.
In the above embodiment, the automobile is in communication connection with a terminal (e.g., a cloud server, etc.), after the automobile acquires and records the driving information of the driver, the driving information is sent to the terminal for storage, and an intelligent driving system is built by combining a plurality of automobiles and the terminal. When the driver changes the driving vehicle, the driving information of the driver can still be obtained and the emergency braking trigger of the vehicle can be adjusted.
And S200, calculating the collision time of the vehicle and the front obstacle in real time.
Specifically, in the first embodiment of step S200, the "calculating in real time the collision time between the host vehicle and the front obstacle" specifically includes:
s200a, obtaining the speed v of the vehiclesVehicle speed v of a front obstaclefAnd the distance d between the two, and calculating the time to collision TTC of the two, the calculation formula is as follows,
in the present embodiment, in order to obtain the collision time between the host vehicle and the front obstacle, the sensor acquires information (including distance, speed, acceleration, etc.) of the front obstacle, and the predicted collision time between the host vehicle and the front obstacle is calculated by using the acquired information of the front obstacle and the data information of the host vehicle.
In the second embodiment of the step S200, the "calculating the collision time between the host vehicle and the front obstacle in real time" specifically includes:
s200b, acquiring an image in front of the vehicle, and calculating the collision time between the vehicle and the front obstacle according to the change speed of the front obstacle in the image.
In the embodiment, in order to obtain the collision time between the vehicle and the front obstacle, the camera acquires the image in front of the vehicle, and the image processing module detects the change speed of the front obstacle which is likely to collide in the image, so as to deduce and obtain the collision time between the vehicle and the front obstacle.
In the embodiment of the present invention, there is no logical sequence between step S100 and step S200, and S100 and S200 are only for convenience of distinguishing marks and are not limitations to the embodiment of the present invention. The premise for implementing step S300 is that steps S100 and S200 may be executed simultaneously, step S100 and step S200 may be executed first, step S100 may be executed first, and then step S200 may be executed, or step S200 may be executed first, and then step S100 may be executed.
And S300, correcting the first warning time through the driving correction parameters to obtain a second warning time, wherein the first warning time is preset safety time of the vehicle.
The driving correction parameter is a driving characteristic unique to each driver, and corresponds to the driving style of the driver. In the embodiment, the preset first warning time of the vehicle is corrected through the driving correction parameters to obtain the second driving time which is more in line with the style of the current driver, so that different driving styles of different drivers are met, and the driving experience is improved.
And S400, comparing the collision time with the second warning time.
And S500, triggering an emergency braking function when the collision time is less than or equal to the second warning time.
In the embodiment, the collision time is compared with the corrected second warning time for verification so as to judge when to trigger the emergency braking function; when the time to collision is less than or the second warning time, meaning that the vehicle is at risk of a possible collision with an obstacle, emergency braking is triggered to ensure the safety of the driver.
In another embodiment, when the collision time is greater than the second guard time, the collision time is continuously calculated in real time and compared with the second guard time.
As shown in fig. 2, the present invention also provides a specific real-time manner of obtaining driving correction parameters, which includes:
s101, obtaining a first associated parameter t according to the emergency braking trigger frequency1。
S102, obtaining a second associated parameter t according to the dangerous state frequency2。
S103, according to the first correlation parameter t1With the second associated parameter t2Calculating to obtain the driving correction parameter T, wherein the calculation formula is as follows:
T＝k1*t1+k2*t2，
wherein k is1、k2Is a constant of proportionality, and k1、k2Not more than 0.01.
In this embodiment, the correlation value t is obtained according to the emergency braking trigger frequency1Obtaining a correlation value t according to the dangerous state frequency2The driving correction parameter T is linearly related to the two correlation values. Wherein the purpose of taking into account the correction parameter is to adjust the frequency of triggering emergency braking, k1Should not be less than k2I.e. the weight considering the emergency braking triggering frequency should not be less than the weight of the dangerous state frequency.
In the above embodiment, the step S101 specifically includes:
s101 a: and when the emergency braking trigger frequency is smaller than a first preset warning value, setting the first correlation parameter as 0.
S101 b: and when the emergency braking trigger frequency is equal to a first preset warning value, setting the first correlation parameter as 1.
S101 c: and when the emergency braking triggering frequency is greater than a first preset warning value, setting the first associated parameter as the ratio of the emergency braking triggering frequency to the first preset warning value.
In this embodiment, a first preset warning value corresponding to the emergency braking triggering frequency is set, and when the first preset warning value is lower, it means that the emergency braking triggering frequency is lower, that is, the driver is extremely cautious, and the associated parameter should be set to 0; and when the emergency braking trigger frequency is greater than or equal to a first preset warning value, obtaining a first associated parameter according to weighted calculation.
For example, assume that the emergency braking triggering frequency is 4.2 times per kilometer, the first preset warning value is 1.2 times per kilometer, and the first associated parameter is 3.5.
In the above embodiment, the S102 specifically includes:
s102 a: when the dangerous state frequency is less than a second preset warning value, setting the second associated parameter t2Is 0.
S102 b: when the dangerous state frequency is equal to a second preset warning value, setting the second correlation parameter t2Is 1.
S102 c: when the dangerous state frequency is greater than a second preset warning value, setting the second associated parameter t2Is the ratio of the emergency braking trigger frequency to the second preset warning value.
In this embodiment, a second preset warning value corresponding to the dangerous state frequency is set, and when the dangerous state frequency is lower than the second preset warning value, it means that the dangerous state frequency is lower, that is, the driver is extremely cautious, and the associated parameter should be set to 0; and when the dangerous state frequency is greater than or equal to a second preset warning value, obtaining a second associated parameter according to weighting calculation.
For example, assume that the dangerous state frequency is 56.43 seconds per hundred hours, the second preset warning value is 20 seconds, and the first correlation parameter is 2.8215.
In an embodiment of the present invention, the step S300 includes:
and S300a, when the driving correction parameter is larger than a preset check parameter, reducing the first warning time to obtain a second warning time.
And S300b, when the driving correction parameter is smaller than a preset check parameter, increasing the first warning time to obtain the second warning time.
In this embodiment, when the driving correction parameter is greater than the preset check parameter, it means that the driver needs safer driving behavior, and therefore the probability of triggering the emergency braking function is increased by reducing the first alert time to obtain the second alert time. When the driving correction parameter is smaller than the preset check parameter, it means that the driver frequently triggers the emergency brake function or is in a dangerous state, if the emergency brake is triggered, on one hand, the driving experience of the driver is influenced, and on the other hand, the driver may suddenly lose vehicle control to cause danger, so that the probability of triggering the emergency brake function is reduced by increasing the second warning time.
Further, in an embodiment of the present invention, the "correcting the first guard time by the driving correction parameter to obtain the second guard time" specifically includes:
and the second warning time is equal to the first warning time plus the preset check parameter-driving correction parameter.
In an embodiment of the present invention, the step S300 further includes: and the difference value between the first warning time and the second warning time is not greater than an early warning value.
In order to meet the driving styles of different drivers, the preset first warning time of the vehicle is corrected to meet the adaptability, but for some drivers with more aggressive driving styles, the driving correction parameters are relatively large, so that the corrected second warning time is easily far longer than the first warning time, and the emergency braking function of the vehicle cannot be realized to the greatest extent. In this embodiment, the early warning value is set to prevent the difference between the first warning time and the second warning time from being too large, so as to prevent the emergency braking from failing to ensure the driving safety. And when the difference value between the first warning time and the second warning time exceeds an early warning value, taking the value when the difference value is equal to the early warning value as the second warning time.
In one embodiment of the present invention, the present invention further provides a vehicle start detection method, including the steps of:
diagnosing the relevant signals at vehicle start-up: and judging whether the vehicle is in an intelligent driving available state or not according to CAN bus data information output by the vehicle and diagnosis signals of sensors such as a camera and millimeter waves.
In this embodiment, when the vehicle is started, the intelligent driving available state of the vehicle is detected first, and when it is detected that the vehicle can enter intelligent driving (intelligent driving includes an emergency braking function), the emergency braking method based on the road condition may be performed.
Specifically, the present invention further comprises: when the intelligent driving is in the available state, an instruction of starting a related intelligent driving function by a driver is received, and the corresponding control taking over of the vehicle is completed according to the instruction.
In the embodiment, when it is monitored that the intelligent driving is in an available state, if a driver wants to get rid of the control right for transferring the intelligent driving to take over the vehicle, the driver sends out an instruction in a key or voice triggering mode, and after the vehicle receives the instruction, the vehicle is correspondingly controlled according to different instructions (if the instruction is the key, different keys correspond to different control commands, and if the instruction is the voice, different keywords are identified by the built-in voice pickup module to correspond to different control commands). The structure of the control method includes a take-over for the accelerator opening and the pedal opening in the longitudinal direction of the vehicle.
Further, in the above embodiment, when the vehicle is in the intelligent driving take-over state, the output is controlled according to the sensor signal on the vehicle and the vehicle body signal.
Specifically, the intelligent driving includes, but is not limited to, functions of emergency braking, vehicle speed adjustment, driving direction adjustment and the like, and the vehicle adjusts and controls braking, vehicle speed and direction according to road condition information received by the sensor and signals of the vehicle.
In one embodiment, the present invention further provides a driver habit based emergency braking device 100, applied to a vehicle, which is preset with a first warning time, wherein the device 100 stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing a driver habit based emergency braking method, and the device comprises:
s100, acquiring driving correction parameters of a driver of the vehicle, wherein the driving correction parameters are obtained by combining and calculating emergency braking triggering frequency and dangerous state frequency when the driver drives, and one driver corresponds to one driving correction parameter;
s200, calculating in real time to obtain the collision time of the vehicle and the front obstacle;
s300, correcting first warning time through the driving correction parameters to obtain second warning time, wherein the first warning time is preset safety time of the vehicle;
s400, comparing the collision time with the second warning time;
and S500, triggering an emergency braking function when the collision time is less than or equal to the second warning time.
For convenience of description, the apparatus 100 is split into a functional module architecture, as shown in fig. 3, including:
the acquiring module 10 is configured to acquire driving correction parameters of a driver of the vehicle, where the driving correction parameters are obtained by combining and calculating an emergency braking trigger frequency and a dangerous state frequency when the driver drives, and one driver corresponds to one driving correction parameter;
a collision time calculation module 20, configured to calculate, in real time, a collision time between the host vehicle and a front obstacle;
the correction module 30 is configured to correct the first warning time according to the driving correction parameter to obtain a second warning time;
a comparison module 40 for comparing the collision time with the second alert time;
and the emergency braking module 50 is used for triggering an emergency braking function when the collision time is less than or equal to the second warning time.
The present invention also provides a vehicle comprising:
one or more processors;
a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the driver habit based emergency braking method described above.
The invention provides an emergency braking method and device based on driver habits, wherein a driver model can be constructed based on the frequency of the conventional emergency braking function triggered by a driver and the conventional dangerous state frequency, and the driver model, namely driving correction parameters, is obtained when a vehicle is powered on; obtaining second warning time by combining and correcting the driving correction parameters and the preset first warning time, and comparing the collision time of the vehicle and the obstacle of the front vehicle and the second warning time by updating the working mode of the automatic emergency braking system; the number of times that the vehicle takes over the use of emergency braking is improved better in this way dynamically based on the number and ability of the driver to use the AEB in the past; aiming at drivers with cautious driving habits and drivers with safer driving habits, the warning time is respectively corrected, so that the triggering of the emergency braking function is more suitable for the style of the drivers, and the driving experience of the drivers can be improved on the basis of ensuring the safety.
Throughout the description and claims of this application, the words "comprise/comprises" and the words "have/includes" and variations of these are used to specify the presence of stated features, values, steps or components but do not preclude the presence or addition of one or more other features, values, steps, components or groups thereof.
Some features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, certain features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable combination in different embodiments.
Various embodiments of the emergency braking method and apparatus based on driver habits of the present invention have been described above in detail. Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. An emergency braking method based on driver habits, characterized in that the emergency braking method comprises the steps of:
acquiring driving correction parameters of a driver of the vehicle, wherein the driving correction parameters are obtained by combining and calculating emergency braking triggering frequency and dangerous state frequency when the driver drives, and one driver corresponds to one driving correction parameter;
calculating in real time to obtain the collision time of the vehicle and the front obstacle;
correcting the first warning time through the driving correction parameter to obtain a second warning time, wherein the first warning time is preset safety time of the vehicle, and the method specifically comprises the following steps:
when the driving correction parameter is larger than a preset check parameter, reducing the first warning time to obtain a second warning time,
when the driving correction parameter is smaller than a preset check parameter, increasing the first warning time to obtain a second warning time;
comparing the collision time with the second warning time;
and when the collision time is less than or equal to the second warning time, triggering an emergency braking function.
2. The emergency braking method according to claim 1, wherein the difference between the first guard time and the second guard time is not greater than a warning value.
3. The emergency braking method according to claim 1, wherein the "correcting the first alert time by the driving correction parameter to obtain the second alert time" specifically comprises:
and the second warning time is equal to the first warning time plus the preset check parameter-driving correction parameter.
4. The emergency braking method according to claim 1, wherein the obtaining of the driving correction parameter of the driver of the vehicle, wherein the driving correction parameter is calculated according to the emergency braking triggering frequency and the dangerous state frequency when the driver drives, comprises:
obtaining a first associated parameter t according to the emergency braking trigger frequency1；
Obtaining a second associated parameter t according to the dangerous state frequency2；
According to the first correlation parameter t1With the second associated parameter t2Calculating to obtain the driving correction parameter T, wherein the calculation formula is as follows:
T＝k1*t1+k2*t2，
wherein k is1、k2Is a constant of proportionality, and k1、k2Not more than 0.01.
5. Emergency braking method according to claim 4, characterised in that the "deriving a first correlation parameter t from the emergency braking triggering frequency1The method specifically comprises the following steps:
when the emergency braking trigger frequency is smaller than a first preset warning value, setting the first correlation parameter as 0;
when the emergency braking trigger frequency is equal to a first preset warning value, setting the first correlation parameter as 1;
and when the emergency braking triggering frequency is greater than a first preset warning value, setting the first associated parameter as the ratio of the emergency braking triggering frequency to the first preset warning value.
6. Emergency braking method according to claim 4, characterised in that the "deriving a second correlation parameter t from the dangerous state frequency2The method specifically comprises the following steps:
when the dangerous state frequency is less than a second preset warning value, setting the second associated parameter t2Is 0;
when the dangerous state frequency is equal to a second preset warning value, setting the second correlation parameter t2Is 1;
when the dangerous state frequency is greater than a second preset warning value, setting the second associated parameter t2Is the ratio of the emergency braking trigger frequency to the second preset warning value.
7. The emergency braking method according to claim 1, wherein the "calculating in real time the collision time between the host vehicle and the obstacle ahead" specifically includes:
obtaining the speed v of the vehiclesVehicle speed v of a front obstaclefAnd the distance d between the two, and calculating the time to collision TTC of the two, the calculation formula is as follows,
8. an emergency braking device based on driver habits, the device comprising:
the acquisition module is used for acquiring driving correction parameters of a driver of the vehicle, wherein the driving correction parameters are obtained by combining and calculating emergency braking triggering frequency and dangerous state frequency when the driver drives, and one driver corresponds to one driving correction parameter;
the collision time calculation module is used for calculating the collision time between the vehicle and the front obstacle in real time;
the correction module is used for correcting first warning time through the driving correction parameters to obtain second warning time, wherein the first warning time is preset safety time of the vehicle;
the comparison module is used for comparing the collision time with the second warning time;
and the emergency braking module is used for triggering an emergency braking function when the collision time is less than or equal to the second warning time.
9. A vehicle, characterized by comprising:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement a driver habit based emergency braking method as claimed in any one of claims 1-7.
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Denomination of invention: Emergency braking methods, devices, and vehicles based on driver habits Effective date of registration: 20230828 Granted publication date: 20211019 Pledgee: Bank of China Limited by Share Ltd. Nanjing Jiangning branch Pledgor: Inbo supercomputing (Nanjing) Technology Co.,Ltd. Registration number: Y2023980054095 |