CN113353069A

CN113353069A - Automatic emergency braking system, and method and system for adjusting automatic emergency braking system

Info

Publication number: CN113353069A
Application number: CN202110829194.6A
Authority: CN
Inventors: 芦冰; 孟俊峰; 王相玲; 刘茹; 曲慧
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2021-07-22
Filing date: 2021-07-22
Publication date: 2021-09-07
Anticipated expiration: 2041-07-22
Also published as: CN113353069B

Abstract

The embodiment of the invention discloses an automatic emergency braking system, and a method and a system for adjusting the automatic emergency braking system. Wherein, the system includes: the system comprises a front road information sensing module, a vehicle speed sensing module, an automatic emergency brake controller, an alarm module, a vehicle body electronic stabilizing system controller and a brake actuating mechanism module; the automatic emergency brake controller is used for calculating the braking acceleration corresponding to the vehicle according to the collision time, the preset collision time threshold value and the acceleration coefficient corresponding to the preset collision time threshold value, and sending a deceleration request to the electronic stability system controller of the vehicle body; entering a calibration mode according to a calibration mode entering command sent by external diagnostic equipment; and updating the control parameters and the control logic according to the adjustment control command sent by the external diagnostic equipment. The embodiment of the invention can optimize the braking acceleration logic of the AEB controller and adjust and calibrate the key parameters in the control logic of the automatic emergency braking system in real time.

Description

Automatic emergency braking system, and method and system for adjusting automatic emergency braking system

Technical Field

The embodiment of the invention relates to the technical field of automobiles, in particular to an automatic emergency braking system, and an adjusting method and system of the automatic emergency braking system.

Background

With the increase of the automobile holding capacity and the development of automatic driving technology, more and more automobiles have an automatic emergency braking function. Automatic emergency braking is an effective means of avoiding collisions. An automatic Emergency Braking system of a vehicle can sense a road condition ahead through a sensing sensor, a sensing result is transmitted back to an Automatic Emergency Braking (AEB) Controller, the AEB Controller generates a corresponding deceleration request containing Braking acceleration according to the comparison between the sensing result and a preset threshold value and sends the deceleration request to an Electronic Stability Control (ESC) Controller of the vehicle body, and the ESC Controller controls a brake actuating mechanism to decelerate according to the deceleration request. The accuracy of the deceleration requests generated by the AEB controller based on the sensing results, including the braking acceleration, plays a crucial role in overall system performance.

In the related technology, an AEB controller is usually subjected to early-stage simulation calibration, AEB parameters subjected to simulation calibration are loaded into the AEB controller in a whole vehicle, then the performance of a real vehicle system is verified, calibration adjustment is performed again aiming at problems found in the verification process after verification, simulation optimization is performed after calibration adjustment, and the optimized parameters are loaded into the real vehicle controller again for verification until the performance meets requirements.

The disadvantages existing in the related art are: each parameter adjustment process lasts for a long time, so that the development cycle of the whole vehicle is increased, and the cost and expense are increased; the method for adjusting the AEB controller is non-real-time online, so that the automatic emergency braking system of the vehicle is often in the conditions of false triggering and unsatisfactory triggering time; the braking acceleration logic of the AEB controller is typically roughly divided into several impact time periods or impact distance periods according to the impact time or impact distance, each impact time period or impact distance period corresponding to the same braking acceleration, which results in different dangerous situations but a poor driving experience corresponding to the same deceleration experience.

Disclosure of Invention

The invention provides an automatic emergency braking system, and an adjusting method and system of the automatic emergency braking system, which can adjust key parameters in control logic of the automatic emergency braking system in real time, save time and labor cost, optimize braking acceleration logic of an AEB controller, realize different braking accelerations corresponding to different conditions, avoid the phenomenon that the braking accelerations are the same in a certain section, and can approach the human driving experience more.

In a first aspect, an embodiment of the present invention provides an automatic emergency braking system, including: the system comprises a front road information sensing module, a vehicle speed sensing module, an automatic emergency brake controller, an alarm module, a vehicle body electronic stabilizing system controller and a brake actuating mechanism module;

the front road information sensing module is used for acquiring front road information of a vehicle in the driving process of the vehicle and sending the front road information to the automatic emergency braking controller, and the front road information comprises: a direction, speed, and distance to the vehicle of forward obstacle travel;

the vehicle speed sensing module is used for acquiring the speed of the vehicle in the running process of the vehicle and sending the speed of the vehicle to the automatic emergency brake controller;

the automatic emergency brake controller is used for receiving the front road information and the speed of the vehicle in the running process of the vehicle and judging whether the front obstacle is an actual obstacle or not according to the perception threshold of the front road information perception module and a preset perception threshold; if the front obstacle is an actual obstacle, calculating the collision time of the front obstacle and the vehicle according to the speed of the vehicle, the traveling speed of the front obstacle and the distance between the front obstacle and the vehicle; calculating braking acceleration corresponding to the vehicle according to the collision time, a preset collision time threshold value and an acceleration coefficient corresponding to the preset collision time threshold value, sending a deceleration request containing the braking acceleration to the vehicle body electronic stability system controller, and sending an alarm signal to the alarm module; in the adjusting process of the automatic emergency braking system, establishing communication connection with external diagnostic equipment, and entering an adjusting mode according to an adjusting mode entering command sent by the external diagnostic equipment; updating control parameters and control logic in the automatic emergency brake controller according to a calibration control command sent by the external diagnostic equipment;

the alarm module is used for sending out an alarm according to the alarm signal;

the vehicle body electronic stability system controller is used for determining a braking torque corresponding to the braking acceleration according to a preset corresponding relation between the braking acceleration and the braking torque when a deceleration request containing the braking acceleration is received; controlling the brake actuating mechanism module to output the brake torque so that the vehicle decelerates according to the brake acceleration until the vehicle stops, and finishing the brake process of the vehicle;

and the brake actuating mechanism module is used for outputting the brake torque under the control of the vehicle body electronic stability system controller.

In a second aspect, an embodiment of the present invention further provides a method for calibrating an automatic emergency braking system, which is applied to an automatic emergency braking controller in the automatic emergency braking system according to the first aspect, and includes:

establishing communication connection with external diagnostic equipment, and entering a calibration mode according to a calibration mode entering command sent by the external diagnostic equipment;

and updating the control parameters and the control logic in the automatic emergency brake controller according to the adjusting control command sent by the external diagnostic equipment.

In a third aspect, an embodiment of the present invention further provides a method for adjusting an automatic emergency braking system, which is applied to an external diagnostic device, and includes:

establishing communication connection with an automatic emergency brake controller in an automatic emergency brake system, and sending a calibration mode entering command to the automatic emergency brake controller so that the automatic emergency brake controller enters a calibration mode according to the calibration mode entering command;

and sending a calibration control command to the automatic emergency brake controller so that the automatic emergency brake controller updates control parameters and control logic in the automatic emergency brake controller according to the calibration control command.

In a fourth aspect, an embodiment of the present invention further provides a calibration system for an automatic emergency braking system, including: an automatic emergency brake controller and an external diagnostic device in an automatic emergency brake system;

wherein the automatic emergency brake controller is configured to perform the tuning method of the automatic emergency brake system according to the second aspect;

the external diagnostic device for performing the method of tuning the automatic emergency brake system according to the third aspect.

According to the embodiment of the invention, whether a front obstacle is an actual obstacle is judged according to a perception threshold of a front road information perception module and a preset perception threshold in the driving process of a vehicle through an automatic emergency brake controller; if the front obstacle is an actual obstacle, calculating the collision time of the front obstacle and the vehicle according to the speed of the vehicle, the traveling speed of the front obstacle and the distance between the front obstacle and the vehicle; then according to the collision time, the preset collision time threshold value and the acceleration coefficient corresponding to the preset collision time threshold value, calculating the braking acceleration corresponding to the vehicle, sending a deceleration request containing the braking acceleration to the vehicle body electronic stability system controller, optimizing the control logic of the automatic emergency braking controller for calculating the braking acceleration, determining different braking acceleration values according to the real-time change of the collision time and the preset collision time threshold value when calculating the braking acceleration, realizing the corresponding different braking accelerations under different conditions, avoiding the phenomenon that the same braking acceleration appears in a certain time interval, being more approximate to the human driving experience of different braking torques under different conditions when driving by human, establishing communication connection with an external diagnosis device in the adjusting process of the automatic emergency braking system, the method has the advantages that the adjustment mode enters into the adjustment mode according to the adjustment mode entering command sent by the external diagnostic equipment, then the control parameters and the control logic in the automatic emergency braking controller are updated according to the adjustment control command sent by the external diagnostic equipment, the key parameters in the control logic of the automatic emergency braking system can be adjusted in real time, time and labor cost are saved, countless adjustment rounds can be performed in a short time, the working condition with problems is easy to reappear, and the method is targeted after adjustment and verification.

Drawings

Fig. 1A is a schematic structural diagram of an automatic emergency braking system according to an embodiment of the present invention.

Fig. 1B is a schematic structural diagram of an automatic emergency braking system according to an embodiment of the present invention.

Fig. 2 is a flowchart of a method for calibrating an automatic emergency braking system according to a second embodiment of the present invention.

Fig. 3 is a flowchart of a method for calibrating an automatic emergency braking system according to a third embodiment of the present invention.

Fig. 4 is a calibration system of an automatic emergency braking system according to a fourth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

Example one

Fig. 1A is a schematic structural diagram of an automatic emergency braking system according to an embodiment of the present invention. The embodiment of the invention can be suitable for realizing the automatic emergency braking function of the vehicle. As shown in fig. 1A, the automatic emergency braking system may specifically include: the following describes the structure and functions of the front road information sensing module 101, the vehicle speed sensing module 102, the automatic emergency brake controller 103, the alarm module 104, the vehicle body electronic stability system controller 105, and the brake actuator module 106.

The front road information sensing module 101 is configured to, during a driving process of a vehicle, acquire front road information of the vehicle, and send the front road information to the automatic emergency brake controller 103, where the front road information includes: direction, speed, and distance from the vehicle that the obstacle ahead is traveling.

The vehicle speed sensing module 102 is configured to obtain a speed of a vehicle during a vehicle driving process, and send the speed of the vehicle to the automatic emergency brake controller 103.

The automatic emergency brake controller 103 is configured to receive road information and speed ahead of the vehicle during a vehicle driving process, and determine whether the obstacle ahead is an actual obstacle according to a sensing threshold of the road information sensing module 101 ahead and a preset sensing threshold; if the front obstacle is an actual obstacle, calculating the collision time of the front obstacle and the vehicle according to the speed of the vehicle, the traveling speed of the front obstacle and the distance between the front obstacle and the vehicle; calculating a braking acceleration corresponding to the vehicle according to the collision time, a preset collision time threshold value and an acceleration coefficient corresponding to the preset collision time threshold value, sending a deceleration request including the braking acceleration to the vehicle body electronic stability system controller 105, and sending an alarm signal to the alarm module 104; in the adjusting process of the automatic emergency braking system, establishing communication connection with external diagnostic equipment, and entering an adjusting mode according to an adjusting mode entering command sent by the external diagnostic equipment; and updating the control parameters and the control logic in the automatic emergency brake controller 103 according to the calibration control command sent by the external diagnostic equipment.

The alarm module 104 is configured to issue an alarm according to the alarm signal.

The vehicle body electronic stability system controller 105 is configured to determine a braking torque corresponding to the braking acceleration according to a preset correspondence between the braking acceleration and the braking torque when receiving a deceleration request including the braking acceleration; and controlling the brake executing mechanism module 106 to output the brake torque so that the vehicle decelerates according to the brake acceleration until the vehicle stops, and finishing the brake process of the vehicle.

The brake actuator module 106 is configured to output the brake torque under the control of the body electronic stability system controller 105.

Optionally, the front road information sensing module 101 is a module configured to sense external environment information in front of the vehicle and identify a condition of an obstacle in front of the vehicle during driving of the vehicle, so as to obtain front road information of the vehicle, including a direction, a speed, and a distance from the vehicle to the front obstacle. The forward road information perception module 101 may be implemented by software and/or hardware. The obstacle in front of the vehicle may be a vehicle and a pedestrian located in front of the vehicle. The forward road information perception module 101 identifies the condition of a vehicle and a pedestrian located in front of the vehicle.

Optionally, fig. 1B is a schematic structural diagram of an automatic emergency braking system according to an embodiment of the present invention. As shown in fig. 1B, the forward road information perception module 101 (not shown) includes: a millimeter wave radar sub-module 1011 and a camera sub-module 1012; the millimeter wave radar sub-module 1011 is configured to acquire first front road information of a vehicle during a vehicle driving process, and send the first front road information to the automatic emergency braking controller 103; the camera sub-module 1012 is configured to acquire second front road information of the vehicle during a vehicle driving process, and send the second front road information to the automatic emergency brake controller 103.

Optionally, the millimeter wave radar sub-module 1011 includes a millimeter wave radar disposed at the front of the vehicle. The millimeter wave radar sub-module 1011 acquires millimeter wave transceiving data of the millimeter wave radar in the vehicle running process, and determines the direction, the speed, the distance from the vehicle and the confidence of the front obstacle according to the millimeter wave transceiving data of the millimeter wave radar in the vehicle running process. The confidence of the front obstacle may be the confidence of whether the front obstacle is an actual obstacle calculated according to millimeter wave transceiving data of the millimeter wave radar during the running of the vehicle, the traveling direction and speed of the front obstacle, and/or the distance from the vehicle.

The perception threshold of the millimeter wave radar sub-module 1011 is a preset confidence threshold. Optionally, a sensing threshold of the millimeter wave radar sub-module is preset according to a service requirement. After the confidence of the front obstacle is obtained, the millimeter wave radar sub-module 1011 determines whether the confidence of the front obstacle is greater than a perception threshold of the millimeter wave radar sub-module. If the confidence of the front obstacle is greater than the perception threshold of the millimeter wave radar submodule 1011, it is indicated that the possibility that the front obstacle is an actual obstacle is high, the millimeter wave radar submodule 1011 determines the direction, speed and distance of the front obstacle to the vehicle, which are determined according to the millimeter wave transceiving data of the millimeter wave radar in the running process of the vehicle, as the first front road information of the vehicle, and sends the first front road information to the automatic emergency brake controller 103. If the confidence of the front obstacle is smaller than or equal to the perception threshold of the millimeter wave radar sub-module 1011, the probability that the front obstacle is the actual obstacle is low, the millimeter wave radar sub-module 1011 continues to acquire millimeter wave transceiving data of the millimeter wave radar in the driving process of the vehicle, and the traveling direction, the traveling speed, the distance from the vehicle and the confidence of the front obstacle are determined according to the millimeter wave transceiving data of the millimeter wave radar in the driving process of the vehicle.

In one specific example, the sensing threshold of the millimeter wave radar sub-module 1011 is 80%. After the confidence of the front obstacle is obtained, the millimeter wave radar sub-module 1011 determines whether the confidence of the front obstacle is greater than 80%. If the confidence of the front obstacle is greater than 80%, determining the traveling direction, speed and distance of the front obstacle determined according to the millimeter wave transceiving data of the millimeter wave radar in the running process of the vehicle as first front road information of the vehicle, and sending the first front road information to the automatic emergency brake controller 103. And if the confidence coefficient of the front obstacle is less than or equal to 80%, continuously acquiring millimeter wave transceiving data of the millimeter wave radar in the running process of the vehicle, and determining the traveling direction, speed, distance from the vehicle and the confidence coefficient of the front obstacle according to the millimeter wave transceiving data of the millimeter wave radar in the running process of the vehicle.

Optionally, the millimeter wave radar sub-module 1011 sends the first front road information of the vehicle to the automatic emergency brake Controller 103 through a Controller Area Network (CAN) bus for transmitting the first front road information of the vehicle.

Optionally, the camera sub-module 1012 includes a camera disposed at the front of the vehicle. The camera sub-module 1012 acquires video data recorded by the camera in the vehicle driving process, and determines the traveling direction and speed of the front obstacle, the distance from the vehicle and the confidence level of the front obstacle according to the video data recorded by the camera in the vehicle driving process. The confidence of the front obstacle may be the confidence of whether the front obstacle is an actual obstacle calculated according to video data recorded by the camera during the driving of the vehicle, the traveling direction and speed of the front obstacle, and/or the distance from the vehicle.

The perception threshold of the camera sub-module 1012 is a preset confidence threshold. Optionally, the sensing threshold of the camera sub-module 1012 is preset according to the service requirement. After obtaining the confidence of the front obstacle, the camera sub-module 1012 determines whether the confidence of the front obstacle is greater than a perception threshold of the camera sub-module 1012. If the confidence of the front obstacle is greater than the perception threshold of the camera sub-module 1012, indicating that the probability that the front obstacle is an actual obstacle is high, the camera sub-module 1012 determines the traveling direction, speed and distance of the front obstacle, which are determined according to the video data recorded by the camera in the driving process of the vehicle, as second front road information of the vehicle, and sends the second front road information to the automatic emergency brake controller 103. If the confidence of the front obstacle is less than or equal to the perception threshold of the camera sub-module 1012, it is indicated that the probability that the front obstacle is an actual obstacle is low, the camera sub-module 1012 continues to acquire video data recorded by the camera in the driving process of the vehicle, and determines the traveling direction, speed, distance from the vehicle, and confidence of the front obstacle according to the video data recorded by the camera in the driving process of the vehicle.

In one specific example, the perception threshold of the camera sub-module 1012 is 85%. The camera sub-module 1012 determines whether the confidence of the front obstacle is greater than 85% after obtaining the confidence of the front obstacle. If the confidence of the front obstacle is greater than 85%, determining the traveling direction, speed and distance of the front obstacle determined according to the video data recorded by the camera in the running process of the vehicle as second front road information of the vehicle, and sending the second front road information to the automatic emergency brake controller 103. And if the confidence coefficient of the front obstacle is less than or equal to 85%, continuously acquiring video data recorded by the camera in the running process of the vehicle, and determining the traveling direction and speed of the front obstacle, the distance from the vehicle and the confidence coefficient of the front obstacle according to the video data recorded by the camera in the running process of the vehicle.

Alternatively, the camera sub-module 1012 transmits the second front road information of the vehicle to the automatic emergency brake controller 103 through a CAN bus for transmitting the second front road information of the vehicle.

Optionally, the vehicle speed sensing module 102 is a module for acquiring a speed of the vehicle, and may include a vehicle speed sensor disposed on the vehicle. The vehicle speed sensing module 102 acquires the speed of the vehicle determined by the vehicle speed sensor and transmits the speed of the vehicle to the automatic emergency brake controller 103 through a CAN bus for transmitting the speed of the vehicle.

Optionally, the automatic emergency brake controller 103 is specifically configured to: and judging whether the front obstacle is an actual obstacle or not according to the sensing threshold of the millimeter wave radar submodule 1011, the sensing threshold of the camera submodule 1012, a preset radar sensing threshold and a preset camera sensing threshold.

Optionally, determining whether the front obstacle is an actual obstacle according to the sensing threshold of the millimeter wave radar sub-module 1011, the sensing threshold of the camera sub-module 1012, a preset radar sensing threshold and a preset camera sensing threshold, includes: judging whether the sensing threshold of the millimeter wave radar sub-module 1011 is larger than a preset camera sensing threshold; if the sensing threshold of the millimeter wave radar sub-module 1011 is greater than the preset camera sensing threshold, judging whether the sensing threshold of the camera sub-module 1012 is greater than the preset camera sensing threshold; if the perception threshold of the camera sub-module 1012 is greater than the preset camera perception threshold, it is determined that the front obstacle is an actual obstacle.

Optionally, a radar sensing threshold and a camera sensing threshold are preset according to service requirements. In a specific example, the preset radar sensing threshold is 75%, and the preset camera sensing threshold is 80%. The automatic emergency braking controller 103 determines whether the sensing threshold of the millimeter wave radar sub-module 1011 is greater than 75%; if the perception threshold of the millimeter wave radar sub-module 1011 is greater than 75%, determining whether the perception threshold of the camera sub-module 1012 is greater than 80%; if the sensing threshold of the camera sub-module 1012 is greater than 80%, it is determined that the front obstacle is an actual obstacle.

Optionally, the method for determining whether the front obstacle is an actual obstacle according to the sensing threshold of the millimeter wave radar sub-module 1011, the sensing threshold of the camera sub-module 1012, a preset radar sensing threshold and a preset camera sensing threshold further includes: judging whether the sensing threshold of the millimeter wave radar sub-module 1011 is larger than a preset camera sensing threshold; if the sensing threshold of the millimeter wave radar sub-module 1011 is greater than the preset camera sensing threshold, judging whether the sensing threshold of the camera sub-module 1012 is greater than the preset camera sensing threshold; if the sensing threshold of the camera sub-module 1012 is less than or equal to a preset camera sensing threshold, determining whether the sensing threshold of the millimeter wave radar sub-module 1011 is continuously greater than the preset camera sensing threshold within a first number of preset time periods; if the sensing threshold value of the millimeter wave radar sub-module 1011 is continuously larger than the preset camera sensing threshold value threshold within a first number of preset time periods, determining that the front obstacle is an actual obstacle; and if the perception threshold of the millimeter wave radar sub-module 1011 is not continuously larger than the preset camera perception threshold within a first number of preset time periods, determining that the front obstacle is a non-actual obstacle.

Optionally, the first number and the preset time period are preset according to a service requirement. In one embodiment, the first amount is 10 and the predetermined time period is 30 seconds. The automatic emergency braking controller 103 determines whether the sensing threshold of the millimeter wave radar sub-module 1011 is greater than 75%; if the perception threshold of the millimeter wave radar sub-module 1011 is greater than 75%, determining whether the perception threshold of the camera sub-module 1012 is greater than 80%; if the perception threshold of the camera sub-module 1012 is less than or equal to 80%, determining whether the perception threshold of the millimeter wave radar sub-module 1011 is greater than 75% for 10 preset time periods; if the perception threshold value of the millimeter wave radar sub-module 1011 is continuously greater than 75% in 10 preset time periods, determining that the front obstacle is an actual obstacle; if the perception threshold of the millimeter wave radar sub-module 1011 is not continuously greater than 75% for 10 preset time periods, it is determined that the front obstacle is a non-actual obstacle.

Optionally, the method for determining whether the front obstacle is an actual obstacle according to the sensing threshold of the millimeter wave radar sub-module 1011, the sensing threshold of the camera sub-module 1012, a preset radar sensing threshold and a preset camera sensing threshold further includes: judging whether the sensing threshold of the millimeter wave radar sub-module 1011 is larger than a preset camera sensing threshold; if the sensing threshold of the millimeter wave radar sub-module 1011 is less than or equal to a preset camera sensing threshold, judging whether the sensing threshold of the camera sub-module 1012 is greater than the preset camera sensing threshold; if the perception threshold of the camera sub-module 1012 is less than or equal to a preset camera perception threshold, it is determined that the front obstacle is a non-actual obstacle.

In a specific example, whether the sensing threshold of the millimeter wave radar sub-module 1011 is greater than 75% is determined; if the perception threshold of the millimeter wave radar sub-module 1011 is less than or equal to 75%, determining whether the perception threshold of the camera sub-module 1012 is greater than 80%; if the perception threshold of the camera sub-module 1012 is less than or equal to 80%, it is determined that the front obstacle is a non-actual obstacle.

Optionally, the method for determining whether the front obstacle is an actual obstacle according to the sensing threshold of the millimeter wave radar sub-module 1011, the sensing threshold of the camera sub-module 1012, a preset radar sensing threshold and a preset camera sensing threshold further includes: judging whether the sensing threshold of the millimeter wave radar sub-module 1011 is larger than a preset camera sensing threshold; if the sensing threshold of the millimeter wave radar sub-module 1011 is less than or equal to a preset camera sensing threshold, judging whether the sensing threshold of the camera sub-module 1012 is greater than the preset camera sensing threshold; if the sensing threshold of the camera sub-module 1012 is greater than the preset camera sensing threshold, determining whether the sensing threshold of the camera sub-module 1012 is greater than the preset camera sensing threshold continuously for a second number of preset time periods; if the perception threshold of the camera sub-module 1012 is continuously greater than a preset camera perception threshold within a second number of preset time periods, determining that the front obstacle is an actual obstacle; if the perception threshold of the camera sub-module 1012 is not continuously greater than the preset camera perception threshold for a second number of preset time periods, it is determined that the obstacle ahead is a non-actual obstacle.

Optionally, the second number is preset according to a service requirement. In one specific example, the second number is 15. Judging whether the sensing threshold of the millimeter wave radar sub-module 1011 is larger than 75%; if the perception threshold of the millimeter wave radar sub-module 1011 is less than or equal to 75%, determining whether the perception threshold of the camera sub-module 1012 is greater than 80%; if the perception threshold of the camera sub-module 1012 is greater than 80%, determining whether the perception threshold of the camera sub-module 1012 is greater than 80% for 15 preset time periods; if the perception threshold of the camera sub-module 1012 is continuously greater than 80% within 15 preset time periods, determining that the front obstacle is an actual obstacle; if the perception threshold of the camera sub-module 1012 does not last more than 80% for 15 preset time periods, it is determined that the front obstacle is a non-actual obstacle.

Optionally, if the automatic emergency braking controller 103 determines that the obstacle in front is an actual obstacle, the automatic emergency braking controller does not perform a braking action, continues to receive road information and speed in front of the vehicle during the vehicle driving process, and determines whether the obstacle in front is the actual obstacle according to a sensing threshold of the road information sensing module in front and a preset sensing threshold.

Alternatively, if the automatic emergency brake controller 103 determines that the obstacle ahead is an actual obstacle, the collision time of the obstacle ahead with the vehicle is calculated based on the speed of the vehicle, the speed at which the obstacle ahead travels, and the distance of the obstacle ahead from the vehicle; according to the collision time, a preset collision time threshold value and an acceleration coefficient corresponding to the preset collision time threshold value, calculating a braking acceleration corresponding to the vehicle, sending a deceleration request containing the braking acceleration to the vehicle body electronic stability system controller, and sending an alarm signal to the alarm module.

Optionally, calculating a collision time between the front obstacle and the vehicle according to the speed of the vehicle, the speed of the front obstacle, and the distance between the front obstacle and the vehicle, includes: calculating a collision time of the front obstacle with the vehicle according to a collision time calculation formula:

TTC＝d/v_h-v_t，

wherein TTC is the collision time of the front obstacle and the vehicle, d is the distance between the front obstacle and the vehicle, v_hIs the speed, v, of the vehicle_tIs the speed at which the obstacle ahead is traveling.

Optionally, calculating a braking acceleration corresponding to the vehicle according to the collision time, a preset collision time threshold, and an acceleration coefficient corresponding to the preset collision time threshold, including: comparing the collision time with a preset first collision time threshold, a preset second collision time threshold and a preset third collision time threshold; wherein the first time-to-collision threshold is greater than the second time-to-collision threshold, and the second time-to-collision threshold is greater than the third time-to-collision threshold; if the time to collision is less than the first time to collision threshold and the time to collision is greater than the second time to collision threshold, calculating a braking acceleration corresponding to the vehicle according to the following first braking acceleration calculation formula:

wherein a is a braking acceleration corresponding to the vehicle, T₁Is the first time to collision threshold, TTC is the time to collision of the front obstacle with the vehicle, Q₁G is the gravity acceleration, g is 9.8m/s, and g is a preset acceleration coefficient under the condition that the collision time is smaller than the first collision time threshold value and is larger than the second collision time threshold value²。

Optionally, a preset collision time threshold is preset according to a service requirement. The preset time-to-collision threshold may include: a first time-to-collision threshold, a second time-to-collision threshold, and a third time-to-collision threshold. Illustratively, the first time-to-collision threshold is 2.5 seconds, the second time-to-collision threshold is 2 seconds, and the third time-to-collision threshold is 1.5 seconds.

Alternatively, if the crash time is greater than the first crash time threshold, indicating that the driver can basically brake the vehicle manually, the automatic emergency brake controller 103 does not perform the process of calculating the braking acceleration and sending the deceleration request including the braking acceleration to the body electronic stability system controller 105, and directly sends the alarm signal to the alarm module 104. The alarm module 104 sends an alarm according to the alarm signal, so that the driver manually brakes the vehicle to avoid collision between the vehicle and a front obstacle.

Optionally, the first braking acceleration calculation formula is a calculation formula for calculating the braking acceleration corresponding to the vehicle when the collision time is less than the first collision time threshold and the collision time is greater than the second collision time threshold. If the collision time is less than the first collision time threshold and the collision time is greater than the second collision time threshold, indicating that the collision risk level of the vehicle and the obstacle in front is general emergency at the moment.

Optionally, vehicle data of the vehicle under the condition that the collision time is smaller than the first collision time threshold and the collision time is larger than the second collision time threshold is analyzed in advance, and a quantitative relation expression mode among the braking acceleration, the first collision time threshold and the collision time under the condition is obtained, namely, a first braking acceleration calculation formula.

Optionally, calculating a braking acceleration corresponding to the vehicle according to the collision time, a preset collision time threshold, and an acceleration coefficient corresponding to the preset collision time threshold, further includes: if the collision time is less than the second collision time threshold and the collision time is greater than the third collision time threshold, calculating a braking acceleration corresponding to the vehicle according to a second braking acceleration calculation formula:

wherein a is a braking acceleration corresponding to the vehicle, T₂Is the second time to collision threshold, TTC is the time to collision of the front obstacle with the vehicle, Q₂G is the gravity acceleration, g is 9.8m/s, and g is a preset acceleration coefficient under the condition that the collision time is smaller than the second collision time threshold value and is larger than the third collision time threshold value²。

Optionally, the second braking acceleration calculation formula is a calculation formula for calculating the braking acceleration corresponding to the vehicle when the collision time is less than the second collision time threshold and the collision time is greater than the third collision time threshold. And if the collision time is smaller than the second collision time threshold and the collision time is larger than the third collision time threshold, indicating that the collision risk level of the vehicle and the front obstacle is more urgent.

Optionally, vehicle data of the vehicle under the condition that the collision time is smaller than the second collision time threshold and the collision time is larger than the third collision time threshold is analyzed in advance, and a quantitative relation expression mode among the braking acceleration, the second collision time threshold and the collision time under the condition is obtained, namely, a second braking acceleration calculation formula.

Optionally, calculating a braking acceleration corresponding to the vehicle according to the collision time, a preset collision time threshold, and an acceleration coefficient corresponding to the preset collision time threshold, further includes: if the crash time is less than the third crash time threshold, calculating a braking acceleration corresponding to the vehicle according to a third braking acceleration calculation formula:

wherein a is a braking acceleration corresponding to the vehicle, T₃Is the third time to collision threshold, TTC is the time to collision of the front obstacle with the vehicle, Q₃G is the gravity acceleration and g is 9.8m/s, which is a preset acceleration coefficient under the condition that the collision time is smaller than the third collision time threshold value²。

Optionally, the third braking acceleration calculation formula is a calculation formula for calculating the braking acceleration corresponding to the vehicle when the collision time is less than the third collision time threshold value. If the time to collision is less than the third time to collision threshold, it indicates that the vehicle is at a very high risk level of collision with the obstacle in front.

Optionally, vehicle data of the vehicle under the condition that the collision time is smaller than the third collision time threshold is analyzed in advance, and a quantitative relation expression mode among the braking acceleration, the third collision time threshold and the collision time under the condition is obtained, namely, a third braking acceleration calculation formula.

Optionally, the automatic emergency brake controller 103 calculates a braking acceleration corresponding to the vehicle, sends a deceleration request including the braking acceleration to the body electronic stability system controller 105, and sends an alarm signal to the alarm module 104. When receiving a deceleration request including the braking acceleration, the vehicle body electronic stability system controller 105 determines a braking torque corresponding to the braking acceleration according to a preset correspondence between the braking acceleration and the braking torque, and then controls the braking actuator module 106 to output the braking torque, so that the vehicle decelerates according to the braking acceleration until the vehicle stops, and the braking process of the vehicle is completed. Meanwhile, the alarm module 104 generates an alarm according to the alarm signal.

Optionally, the automatic Emergency brake controller 103 is an Automatic Emergency Braking (AEB) controller provided on the vehicle. The vehicle body Electronic Stability Controller 105 is an Electronic Stability Controller (ESC) Controller provided in a vehicle. The brake actuator module 106 is an actuator that is disposed on the vehicle and is used for outputting a braking torque so as to decelerate the vehicle according to a certain braking acceleration until the vehicle is stopped, thereby completing a braking process of the vehicle.

Optionally, the alarm module 104 is an audible and visual alarm device disposed on the vehicle, and includes an Led lamp and a buzzer. And the Led lamp arranged on the vehicle can emit flashing light according to the alarm signal. The buzzer arranged on the vehicle can send out an alarm whistle according to the alarm signal.

In the embodiment of the invention, when the automatic emergency brake controller 103 determines that the front obstacle is the actual obstacle during the running of the vehicle, that is, when the automatic emergency brake controller 103 recognizes that there is a risk of collision, the automatic emergency brake controller 103 calculates the corresponding braking acceleration according to the time of collision between the front obstacle and the vehicle in real time, and sends a deceleration request including the braking acceleration to the vehicle body electronic stability system controller 105. The vehicle body electronic stability system controller 105 controls the brake executing mechanism module 106 to output a brake torque corresponding to the brake acceleration, and performs a brake action at a corresponding level, so that the vehicle decelerates according to the brake acceleration until the vehicle stops, and the vehicle brake process is completed. Under the actual condition, the corresponding braking acceleration calculated according to the real-time collision time of the front obstacle and the vehicle can correspond to different braking torques according to different collision times, and an infinite number of braking torques can be corresponded.

The automatic emergency brake controller 103 is further configured to establish a communication connection with an external diagnostic device during tuning of the automatic emergency brake system, enter a tuning mode according to a tuning mode entry command sent by the external diagnostic device, and update control parameters and control logic in the automatic emergency brake controller 103 according to a tuning control command sent by the external diagnostic device.

Optionally, the external diagnostic device is a computer device for tuning an automatic emergency braking system of the vehicle. An external diagnostic device may communicate with the automatic emergency brake controller 103.

Alternatively, the calibration mode entry command is a command for controlling the automatic emergency brake controller 103 to enter the calibration mode. The tuning mode is a mode in which the automatic emergency brake controller updates the control parameters and the control logic according to a tuning control command transmitted from the external diagnostic device.

Optionally, the method further includes: transmitting a tuning mode entry success message to the external diagnosis apparatus if the automatic emergency brake controller 103 enters the tuning mode; if the automatic emergency brake controller 103 does not enter the tuning mode, a tuning mode entry failure message is transmitted to the external diagnostic apparatus. The tuning mode entry success information is information for notifying the external diagnostic apparatus that the automatic emergency brake controller 103 enters the tuning mode. The tuning mode entry failure information is information for notifying the external diagnostic apparatus that the automatic emergency brake controller 103 has not entered the tuning mode.

Optionally, the calibration control command is one or more control commands for controlling the automatic emergency brake controller 103 to update the control parameters and the control logic in the automatic emergency brake controller 103 to implement the calibration process of the automatic emergency brake system.

Optionally, the control parameters in the automatic emergency brake controller 103 at least include: the method comprises the steps of presetting a perception threshold value, presetting a collision time threshold value and an acceleration coefficient corresponding to the presetting collision time threshold value.

Optionally, the preset sensing threshold includes: the method comprises the following steps of presetting a radar sensing threshold and presetting a camera sensing threshold. The preset time-to-collision threshold includes: a preset first collision time threshold, a preset second collision time threshold and a preset third collision time threshold. The acceleration coefficient corresponding to the preset time-to-collision threshold includes: the collision time is smaller than the first collision time threshold value and the collision time is larger than the second collision time threshold value, the preset acceleration coefficient is smaller than the second collision time threshold value and the collision time is larger than the third collision time threshold value, and the preset acceleration coefficient is smaller than the third collision time threshold value.

Optionally, the control parameters in the automatic emergency brake controller 103 further include: a first number and a second number.

Optionally, the control logic in the automatic emergency brake controller 103 includes: a control logic for judging whether the front obstacle is an actual obstacle according to the corresponding control parameter, and a control logic for calculating a braking acceleration corresponding to the vehicle according to the corresponding control parameter.

Optionally, the automatic emergency brake controller 103 includes: a brake control submodule and an adjustment control submodule; the braking control sub-module is configured to receive road information ahead of the vehicle and a speed of the vehicle, and determine whether the obstacle ahead is an actual obstacle according to a sensing threshold of the road information ahead sensing module 101 and a preset sensing threshold; if the front obstacle is an actual obstacle, calculating the collision time of the front obstacle and the vehicle according to the speed of the vehicle, the traveling speed of the front obstacle and the distance between the front obstacle and the vehicle; calculating a braking acceleration corresponding to the vehicle according to the collision time, a preset collision time threshold value and an acceleration coefficient corresponding to the preset collision time threshold value, sending a deceleration request including the braking acceleration to the vehicle body electronic stability system controller 105, and sending an alarm signal to the alarm module 104; the adjusting control submodule is used for establishing communication connection with external diagnostic equipment in the adjusting process of the automatic emergency braking system and entering an adjusting mode according to an adjusting mode entering command sent by the external diagnostic equipment; and updating the control parameters and control logic in the automatic emergency brake controller 103 according to the new parameters in the parameter adjustment command sent by the external diagnostic equipment.

Optionally, the brake control submodule is a submodule in the automatic emergency brake controller 103 for implementing an automatic emergency brake function during a vehicle running process, and the tuning control submodule is a submodule in the automatic emergency brake controller 103 for implementing a real-time tuning function of the automatic emergency brake system through communication interaction with an external diagnostic device during a tuning process of the automatic emergency brake system. The braking control sub-module and the adjusting control sub-module can be realized in a software and/or hardware mode.

Optionally, the tuning control sub-module is specifically configured to: according to a safety verification command sent by the external diagnostic equipment, carrying out safety verification on the external diagnostic equipment; after the safety verification is passed, entering a factory mode according to a factory mode entering command sent by the external diagnostic equipment; detecting whether a new parameter in a parameter adjusting command sent by the external diagnostic equipment is within a preset parameter range; when the new parameter is within a preset parameter range, updating the control parameter in the automatic emergency brake controller 103 according to the new parameter; generating new control logic in the automatic emergency brake controller 103 according to the updated control parameters; wherein the control parameters include at least: the method comprises the steps of presetting a perception threshold value, presetting a collision time threshold value and an acceleration coefficient corresponding to the presetting collision time threshold value.

Optionally, the security check command is a command for performing security verification on the external diagnostic device. And the safety verification command sent by the external diagnostic equipment carries identification information of the external diagnostic equipment.

Optionally, the calibrating and controlling sub-module performs security verification on the external diagnostic device according to a security verification command sent by the external diagnostic device, including: inquiring identification information of the external diagnostic equipment carried in the safety verification command from the preset identification information of each external diagnostic equipment with the training authority aiming at the automatic emergency brake controller 103; if the identification information of the external diagnostic equipment carried in the safety verification command is inquired, the safety verification is determined to be passed; and if the identification information of the external diagnostic equipment carried in the safety verification command is not inquired, determining that the safety verification is not passed.

Optionally, if the security verification fails, sending a security verification failure message to the external diagnostic device. The security authentication failure information is information for notifying that the external diagnostic device fails in security authentication.

Optionally, if the security verification passes, sending a security verification success message to the external diagnostic device; and entering a factory mode according to a factory mode entering command sent by the external diagnostic equipment. The security authentication success information is information for notifying that the external diagnostic apparatus passes the security authentication.

Alternatively, the enter factory mode command is a command for controlling the automatic emergency brake controller 103 to enter factory mode. The factory mode is a mode in which control parameters and control logic in the automatic emergency brake controller 103 can be changed. Before the automatic emergency brake controller 103 enters the factory mode, the control parameters and control logic in the automatic emergency brake controller 103 are kept unchanged from the set values and cannot be changed.

Optionally, the method further includes: transmitting a plant mode entry success message to the external diagnostic apparatus if the automatic emergency brake controller 103 enters the plant mode; if the automatic emergency brake controller 103 does not enter the factory mode, a factory mode entry failure message is sent to the external diagnostic device. The plant mode entry success information is information for notifying the external diagnostic apparatus automatic emergency brake controller 103 of entry into the plant mode. The plant mode entry failure information is information for notifying the external diagnostic apparatus that the automatic emergency brake controller 103 has not entered the plant mode.

Optionally, when receiving the parameter tuning command sent by the external diagnostic device, the new parameter carried in the parameter tuning command is identified, and it is detected whether the new parameter in the parameter tuning command sent by the external diagnostic device is within a preset parameter range.

Optionally, the method further includes: if the new parameters carried in the parameter adjusting command are successfully identified, parameter identification success information is sent to the external diagnostic equipment; and if the new parameters carried in the parameter adjusting command are not identified, sending parameter identification failure information to the external diagnostic equipment. The parameter identification success information is information for notifying the external diagnostic apparatus that the automatic emergency brake controller 103 has successfully identified a new parameter carried in the parameter tuning command. The parameter identification failure information is information for notifying the external diagnostic apparatus that the automatic emergency brake controller 103 does not identify a new parameter carried in the parameter tuning command.

Optionally, the parameter tuning command carries a new parameter corresponding to a certain control parameter. The automatic emergency brake controller 103 is preset with a preset parameter range corresponding to each control parameter. The preset parameter range is a reasonable value range of the control parameter. If the new parameter is in the preset parameter range of the corresponding control parameter, the new parameter is indicated to be in the reasonable value range of the corresponding control parameter, and the new parameter can be used, so that the normal driving of the vehicle is not influenced. If the new parameter is not in the preset parameter range of the corresponding control parameter, the new parameter is not in the reasonable value range of the corresponding control parameter, and the new parameter cannot be used, so that the normal driving of the vehicle is possibly influenced.

Optionally, when the new parameter is not within the preset parameter range, sending parameter abnormality information to the external diagnostic device. The parameter abnormality information is information for notifying that the new parameter carried in the parameter adjustment and calibration command of the external diagnostic equipment is not in a reasonable numerical range of the corresponding control parameter, is unusable, and may affect normal driving of the vehicle.

Optionally, when the new parameter is within a preset parameter range, updating the control parameter in the automatic emergency brake controller 103 according to the new parameter; generating new control logic in the automatic emergency brake controller 103 according to the updated control parameters; wherein the control parameters include at least: the method comprises the steps of presetting a perception threshold value, presetting a collision time threshold value and an acceleration coefficient corresponding to the presetting collision time threshold value.

Optionally, updating the control parameters in the automatic emergency brake controller 103 according to the new parameters includes: the corresponding control parameters in the automatic emergency brake controller 103 are updated with the new parameters.

Optionally, generating a new control logic in the automatic emergency brake controller 103 according to the updated control parameter includes: based on the updated control parameters in the automatic emergency brake controller 103, new control logic for determining whether the obstacle ahead is an actual obstacle or new control logic for calculating the braking acceleration corresponding to the vehicle is generated.

Optionally, after a new control logic in the automatic emergency brake controller 103 is successfully generated according to the updated control parameter, sending a control logic update success message to the external diagnostic device; when a new control logic in the automatic emergency brake controller 103 is not generated according to the updated control parameters, a control logic update failure message is transmitted to the external diagnostic apparatus. The control logic update success information is information for notifying the external diagnostic apparatus of the successful generation of the new control logic in the automatic emergency brake controller 103. The control logic update failure information is information for notifying that the external diagnostic apparatus has not successfully generated the new control logic in the automatic emergency brake controller 103.

The embodiment of the invention can adjust the real vehicle parameters, namely, find problems in the real vehicle performance verification process, can directly adjust and calibrate corresponding parameters through external diagnostic equipment, generate a new control logic after adjustment, immediately verify the new control logic in real time, completely reproduce the secondary verification effect of the road condition with the problems on the last time, continuously perform real vehicle verification again when the problems exist, immediately adjust the parameters again, immediately verify the control logic again in real time, save a large amount of time and labor cost, and shorten the development period by about 80% compared with the traditional two-wheel non-real-time online adjustment.

The embodiment of the invention realizes the real-time adjustment and optimization of the control parameters of the automatic emergency brake controller 103. The real-time adjustment and optimization of the control parameters can find the triggering performance of the automatic emergency brake controller 103 in real-time vehicle experiments, including the triggering time and the triggered braking acceleration, and can perform the parameter adjustment and calibration in real time and on line when bad experience is caused to a driver. The control parameters in the automatic emergency brake controller 103 are adjusted in real time by external diagnostic equipment, and the driving experience close to the human self-operating brake system can be adjusted in a short time. The calibration and verification generally lasts for 2-3 weeks, the conventional two-round calibration technique generally requires 4-5 months, and the calibration time can be reduced by 80% in the embodiment of the invention.

Optionally, the real-time verification is performed after the new control logic in the automatic emergency brake controller 103 is successfully generated according to the updated control parameters. The adjustment process of one control parameter can be completed within 1-2 minutes generally, and the adjustment is carried out again if the real vehicle verification is still problematic until the performance is satisfied.

The embodiment of the invention can adjust and optimize the key parameters in the control logic of the automatic emergency braking system in real time through the external diagnosis equipment, continuously optimize the performance of the whole system, adjust and optimize the parameters at any time at a place where poor experience is found in the driving process of an actual vehicle, and perform real-time secondary re-inspection on the spot after optimization.

The embodiment of the invention optimizes the control logic for calculating the braking acceleration corresponding to the vehicle, calculates the percentage of the collision time threshold and the actual collision time by the automatic emergency braking controller 103 when sensing the obstacle, and each ratio respectively corresponds to different braking acceleration requirements, thereby realizing different driving experiences of different braking accelerations under different conditions and avoiding the phenomenon that the same deceleration request exists in a certain interval. Because different braking forces can be adopted according to different situations when a person drives normally, the embodiment of the invention can very approach the driving feeling of human operation by adding percentage.

The technical scheme of the embodiment of the invention provides an automatic emergency braking system, wherein an automatic emergency braking controller judges whether a front obstacle is an actual obstacle or not according to a perception threshold of a front road information perception module and a preset perception threshold in the running process of a vehicle; if the front obstacle is an actual obstacle, calculating the collision time of the front obstacle and the vehicle according to the speed of the vehicle, the traveling speed of the front obstacle and the distance between the front obstacle and the vehicle; then according to the collision time, the preset collision time threshold value and the acceleration coefficient corresponding to the preset collision time threshold value, calculating the braking acceleration corresponding to the vehicle, sending a deceleration request containing the braking acceleration to the vehicle body electronic stability system controller, optimizing the control logic of the automatic emergency braking controller for calculating the braking acceleration, determining different braking acceleration values according to the real-time change of the collision time and the preset collision time threshold value when calculating the braking acceleration, realizing the corresponding different braking accelerations under different conditions, avoiding the phenomenon that the same braking acceleration appears in a certain time interval, being more approximate to the human driving experience of different braking torques under different conditions when driving by human, establishing communication connection with an external diagnosis device in the adjusting process of the automatic emergency braking system, the method has the advantages that the adjustment mode enters into the adjustment mode according to the adjustment mode entering command sent by the external diagnostic equipment, then the control parameters and the control logic in the automatic emergency braking controller are updated according to the adjustment control command sent by the external diagnostic equipment, the key parameters in the control logic of the automatic emergency braking system can be adjusted in real time, time and labor cost are saved, countless adjustment rounds can be performed in a short time, the working condition with problems is easy to reappear, and the method is targeted after adjustment and verification.

Example two

Fig. 2 is a flowchart of a method for calibrating an automatic emergency braking system according to a second embodiment of the present invention. The method may be applied to an automatic emergency brake controller in an automatic emergency brake system provided by the above-described embodiment of the present invention. As shown in fig. 2, the method of the embodiment of the present invention specifically includes:

step 201, establishing a communication connection with an external diagnostic device, and entering a tuning mode according to a tuning mode entering command sent by the external diagnostic device.

Optionally, the calibration mode entering command is a command for controlling the automatic emergency brake controller to enter the calibration mode. The tuning mode is a mode in which the automatic emergency brake controller updates the control parameters and the control logic according to a tuning control command transmitted from the external diagnostic device.

Optionally, the method further includes: if the automatic emergency brake controller enters the tuning mode, transmitting a tuning mode entry success message to the external diagnostic device; and if the automatic emergency brake controller does not enter the calibration mode, transmitting calibration mode entry failure information to the external diagnostic equipment. The tuning mode entry success information is information for informing the external diagnostic apparatus that the automatic emergency brake controller enters the tuning mode. The tuning mode entry failure information is information for notifying the external diagnostic apparatus that the automatic emergency brake controller does not enter the tuning mode.

Step 202, updating the control parameters and control logic in the automatic emergency brake controller according to the adjustment control command sent by the external diagnostic equipment.

Optionally, the calibration control command is one or more control commands for controlling the automatic emergency brake controller to update the control parameters and the control logic in the automatic emergency brake controller, so as to implement the calibration process of the automatic emergency brake system.

Optionally, the control parameters in the automatic emergency brake controller at least include: the method comprises the steps of presetting a perception threshold value, presetting a collision time threshold value and an acceleration coefficient corresponding to the presetting collision time threshold value.

Optionally, the control parameters in the automatic emergency brake controller further include: a first number and a second number.

Optionally, the control logic in the automatic emergency brake controller comprises: a control logic for judging whether the front obstacle is an actual obstacle according to the corresponding control parameter, and a control logic for calculating a braking acceleration corresponding to the vehicle according to the corresponding control parameter.

Optionally, the updating the control parameters and the control logic in the automatic emergency brake controller according to the tuning control command sent by the external diagnostic device includes: according to a safety verification command sent by the external diagnostic equipment, carrying out safety verification on the external diagnostic equipment; after the safety verification is passed, entering a factory mode according to a factory mode entering command sent by the external diagnostic equipment; detecting whether a new parameter in a parameter adjusting command sent by the external diagnostic equipment is within a preset parameter range; when the new parameter is within a preset parameter range, updating the control parameter in the automatic emergency brake controller according to the new parameter; generating a new control logic in the automatic emergency brake controller according to the updated control parameters; wherein the control parameters include at least: the method comprises the steps of presetting a perception threshold value, presetting a collision time threshold value and an acceleration coefficient corresponding to the presetting collision time threshold value.

The technical scheme of the embodiment of the invention provides a method for adjusting an automatic emergency braking system, which is characterized in that in the adjusting process of the automatic emergency braking system, communication connection is established with external diagnostic equipment, the automatic emergency braking system enters an adjusting mode according to an adjusting mode entering command sent by the external diagnostic equipment, and then control parameters and control logic in an automatic emergency braking controller are updated according to an adjusting control command sent by the external diagnostic equipment, so that the key parameters in the control logic of the automatic emergency braking system can be adjusted in real time, the time and labor cost are saved, countless adjustment turns can be performed in a short time, the working condition with problems is easily reproduced, and the pertinence is verified after the adjustment.

EXAMPLE III

Fig. 3 is a flowchart of a method for calibrating an automatic emergency braking system according to a third embodiment of the present invention. The method can be applied to the external diagnostic device provided by the above-described embodiment of the present invention. As shown in fig. 3, the method of the embodiment of the present invention specifically includes:

step 301, establishing a communication connection with an automatic emergency brake controller in an automatic emergency brake system, and sending a calibration mode entering command to the automatic emergency brake controller, so that the automatic emergency brake controller enters a calibration mode according to the calibration mode entering command.

Optionally, the external diagnostic device is a computer device for tuning an automatic emergency braking system of the vehicle. The external diagnostic device may communicate with the automatic emergency brake controller.

Step 302, transmitting a calibration control command to the automatic emergency brake controller, so that the automatic emergency brake controller updates control parameters and control logic in the automatic emergency brake controller according to the calibration control command.

Optionally, the sending a calibration control command to the automatic emergency brake controller so that the automatic emergency brake controller updates control parameters and control logic in the automatic emergency brake controller according to the calibration control command includes: sending a safety check command to the automatic emergency brake controller so that the automatic emergency brake controller can carry out safety verification on the external diagnostic equipment according to the safety check command; sending a factory mode entry command to the automatic emergency brake controller to cause the automatic emergency brake controller to enter a factory mode in accordance with the factory mode entry command; sending a parameter adjusting command to the automatic emergency brake controller so that the automatic emergency brake controller detects whether a new parameter in the parameter adjusting command is within a preset parameter range, when the new parameter is within the preset parameter range, updating a control parameter in the automatic emergency brake controller according to the new parameter, and generating a new control logic in the automatic emergency brake controller according to the updated control parameter; wherein the control parameters include at least: the method comprises the steps of presetting a perception threshold value, presetting a collision time threshold value and an acceleration coefficient corresponding to the presetting collision time threshold value.

The technical scheme of the embodiment of the invention provides a calibration method of an automatic emergency braking system, which comprises the steps of establishing communication connection with an automatic emergency braking controller in the automatic emergency braking system, sending a calibration mode entering command to the automatic emergency braking controller, and enabling the automatic emergency braking controller to enter the calibration mode according to the calibration mode entering command; and then, an adjustment control command is sent to the automatic emergency brake controller, so that the automatic emergency brake controller updates the control parameters and the control logic in the automatic emergency brake controller according to the adjustment control command, the key parameters in the control logic of the automatic emergency brake system can be adjusted in real time, the time and the labor cost are saved, countless adjustment rounds can be performed in a short time, the working condition with problems is easily reproduced, and the pertinence is verified after the adjustment.

Example four

Fig. 4 is a calibration system of an automatic emergency braking system according to a fourth embodiment of the present invention, including: the automatic emergency brake controller 401 and the external diagnostic device 402 in the automatic emergency brake system will be explained below with respect to their structures and functions.

The automatic emergency brake controller 401 is configured to establish a communication connection with an external diagnostic device 402, and enter a tuning mode according to a tuning mode entering command sent by the external diagnostic device 402; according to the calibration control command sent by the external diagnostic device 402, the control parameters and control logic in the automatic emergency brake controller 401 are updated.

The external diagnostic device 402 is configured to establish a communication connection with an automatic emergency brake controller 401 in an automatic emergency brake system, and send a tuning mode entering command to the automatic emergency brake controller 401, so that the automatic emergency brake controller 401 enters a tuning mode according to the tuning mode entering command; and sending a calibration control command to the automatic emergency brake controller 401, so that the automatic emergency brake controller 401 updates the control parameters and the control logic in the automatic emergency brake controller 401 according to the calibration control command.

The technical scheme of the embodiment of the invention provides a calibration system of an automatic emergency braking system, which establishes communication connection with an automatic emergency braking controller in the automatic emergency braking system through external diagnostic equipment and sends a calibration mode entering command to the automatic emergency braking controller so that the automatic emergency braking controller enters the calibration mode according to the calibration mode entering command; and then, an adjustment control command is sent to the automatic emergency brake controller through the external diagnostic equipment, so that the automatic emergency brake controller updates control parameters and control logic in the automatic emergency brake controller according to the adjustment control command, key parameters in the control logic of the automatic emergency brake system can be adjusted in real time, time and labor cost are saved, countless adjustment rounds can be performed in a short time, the working condition with problems is easy to reproduce, and pertinence is verified after adjustment.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An automatic emergency braking system, comprising: the system comprises a front road information sensing module, a vehicle speed sensing module, an automatic emergency brake controller, an alarm module, a vehicle body electronic stabilizing system controller and a brake actuating mechanism module;

2. The system of claim 1, wherein the automatic emergency brake controller comprises: a brake control submodule and an adjustment control submodule;

the braking control sub-module is used for receiving the front road information and the speed of the vehicle and judging whether the front obstacle is an actual obstacle or not according to the perception threshold of the front road information perception module and a preset perception threshold; if the front obstacle is an actual obstacle, calculating the collision time of the front obstacle and the vehicle according to the speed of the vehicle, the traveling speed of the front obstacle and the distance between the front obstacle and the vehicle; calculating braking acceleration corresponding to the vehicle according to the collision time, a preset collision time threshold value and an acceleration coefficient corresponding to the preset collision time threshold value, sending a deceleration request containing the braking acceleration to the vehicle body electronic stability system controller, and sending an alarm signal to the alarm module;

the adjusting control submodule is used for establishing communication connection with external diagnostic equipment in the adjusting process of the automatic emergency braking system and entering an adjusting mode according to an adjusting mode entering command sent by the external diagnostic equipment; and updating the control parameters and the control logic in the automatic emergency brake controller according to the new parameters in the parameter adjustment command sent by the external diagnostic equipment.

3. The system of claim 2, wherein the tuning control sub-module is specifically configured to: according to a safety verification command sent by the external diagnostic equipment, carrying out safety verification on the external diagnostic equipment; after the safety verification is passed, entering a factory mode according to a factory mode entering command sent by the external diagnostic equipment; detecting whether a new parameter in a parameter adjusting command sent by the external diagnostic equipment is within a preset parameter range; when the new parameter is within a preset parameter range, updating the control parameter in the automatic emergency brake controller according to the new parameter; generating a new control logic in the automatic emergency brake controller according to the updated control parameters;

wherein the control parameters include at least: the method comprises the steps of presetting a perception threshold value, presetting a collision time threshold value and an acceleration coefficient corresponding to the presetting collision time threshold value.

4. The system of claim 2, wherein the forward road information perception module comprises: the millimeter wave radar submodule and the camera submodule;

the millimeter wave radar sub-module is used for acquiring first front road information of a vehicle in the running process of the vehicle and sending the first front road information to the automatic emergency braking controller;

the camera submodule is used for acquiring second front road information of the vehicle in the running process of the vehicle and sending the second front road information to the automatic emergency braking controller.

5. System according to claim 4, characterized in that said automatic emergency brake controller is specifically adapted to: and judging whether the front obstacle is an actual obstacle or not according to the sensing threshold of the millimeter wave radar submodule, the sensing threshold of the camera submodule, a preset radar sensing threshold and a preset camera sensing threshold.

6. A method for calibrating an automatic emergency brake system, which is applied to an automatic emergency brake controller in the automatic emergency brake system according to claim 1, comprising:

7. The method of claim 6, wherein updating control parameters and control logic in an automatic emergency brake controller based on the tuning control commands sent by the external diagnostic device comprises:

according to a safety verification command sent by the external diagnostic equipment, carrying out safety verification on the external diagnostic equipment;

after the safety verification is passed, entering a factory mode according to a factory mode entering command sent by the external diagnostic equipment;

detecting whether a new parameter in a parameter adjusting command sent by the external diagnostic equipment is within a preset parameter range;

when the new parameter is within a preset parameter range, updating the control parameter in the automatic emergency brake controller according to the new parameter;

generating a new control logic in the automatic emergency brake controller according to the updated control parameters;

8. A method for adjusting an automatic emergency braking system, which is applied to an external diagnostic device, is characterized by comprising the following steps:

9. The method of claim 8, wherein the sending calibration control commands to the automatic emergency brake controller to cause the automatic emergency brake controller to update control parameters and control logic in the automatic emergency brake controller according to the calibration control commands comprises:

sending a safety check command to the automatic emergency brake controller so that the automatic emergency brake controller can carry out safety verification on the external diagnostic equipment according to the safety check command;

sending a factory mode entry command to the automatic emergency brake controller to cause the automatic emergency brake controller to enter a factory mode in accordance with the factory mode entry command;

sending a parameter adjusting command to the automatic emergency brake controller so that the automatic emergency brake controller detects whether a new parameter in the parameter adjusting command is within a preset parameter range, when the new parameter is within the preset parameter range, updating a control parameter in the automatic emergency brake controller according to the new parameter, and generating a new control logic in the automatic emergency brake controller according to the updated control parameter;

10. A tuning system for an automatic emergency braking system, comprising: an automatic emergency brake controller and an external diagnostic device in an automatic emergency brake system;

wherein the automatic emergency brake controller is configured to perform a method of tuning an automatic emergency brake system according to any one of claims 6-7;

the external diagnostic device for performing the method of tuning an automatic emergency brake system according to any one of claims 8-9.