CN113788016A - False triggering prevention automatic emergency braking control method, system, server and storage medium - Google Patents

False triggering prevention automatic emergency braking control method, system, server and storage medium Download PDF

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Publication number
CN113788016A
CN113788016A CN202111012088.5A CN202111012088A CN113788016A CN 113788016 A CN113788016 A CN 113788016A CN 202111012088 A CN202111012088 A CN 202111012088A CN 113788016 A CN113788016 A CN 113788016A
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transverse
triggering
target object
longitudinal
vehicle
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CN113788016B (en
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韩勇
潘迪
吴贺
金钱钱
黄红武
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Xiamen University of Technology
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Xiamen University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4029—Pedestrians
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/803—Relative lateral speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to the field of emergency braking systems, in particular to an automatic emergency braking control method, system, server and storage medium for preventing false triggering, wherein the automatic emergency braking control method, system, server and storage medium comprise an AEB sensor and a controller which are installed on a vehicle, and the AEB sensor is connected with the controller; the AEB sensor is used for detecting the transverse relative distance, the transverse relative speed, the longitudinal relative distance and the longitudinal relative speed of the obstacle and the vehicle head. The method and the device have the advantages that the triggering conditions in the longitudinal direction and the triggering conditions in the transverse direction are set, the longitudinal triggering conditions comprise longitudinal collision residual time, the transverse triggering conditions comprise transverse triggering width and transverse collision residual time, the AEB system is enabled to remarkably improve the precision of collision risk assessment through the triggering conditions in the longitudinal direction and the transverse direction, the false triggering of the AEB system is effectively reduced, and the driving experience of a driver is remarkably improved while the AEB collision avoidance capacity is ensured.

Description

False triggering prevention automatic emergency braking control method, system, server and storage medium
Technical Field
The invention relates to the technical field of emergency braking systems, in particular to an automatic emergency braking control method, system, server and storage medium for preventing false triggering.
Background
The automatic emergency braking system is one of the important auxiliary systems for the active safety of the current vehicle, and can predict an accident and remind a driver to take collision avoidance measures or emergency brake the vehicle before the accident happens so as to avoid the accident or reduce the damage of personnel. The working principle mainly comprises three parts:
(1) sensing and identifying a forward obstacle based on the AEB sensor;
(2) determining whether to trigger an AEB based on an AEB trigger algorithm;
(3) emergency braking of the vehicle. The AEB model mainly comprises a safe distance model and a Time To Collision (TTC) model;
for the AEB system of the TTC model, its triggering parameter TTC is the ratio of the relative distance of the target object in the longitudinal direction of the vehicle to the relative speed, and therefore it mainly takes into account the risk of collision in the longitudinal direction of the vehicle.
Currently, patents in the AEB system focus primarily on improving the collision avoidance capability of the AEB system and system optimization for integrating collision safety and occupant comfort. For false triggering of the AEB, i.e. the actual collision risk level is not high, but the AEB still triggers due to the low accuracy of the AEB algorithm for collision risk assessment. For example, fig. 1 shows that when the target object is traveling in the adjacent lane of the vehicle, the vehicle does not actually collide with the target object, but because the AEB detects the target object, the AEB is still activated when the trigger threshold of the longitudinal TTC is reached, which significantly reduces the driving experience of the driver.
Disclosure of Invention
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The invention aims to overcome the defects and provides an automatic emergency braking control method, a system, a server and a storage medium for preventing false triggering, so as to solve the problem that the AEB is still activated when a triggering threshold of a longitudinal TTC is reached after the conventional AEB detects a vehicle target object of an adjacent lane.
In order to achieve the purpose, the technical solution of the invention is as follows: a method of controlling an automatic emergency brake against false triggering, the method comprising,
acquiring an obstacle in a detection field angle range, and judging whether the obstacle is a target object;
if the target object is judged, acquiring target object information and processing the target object information;
and judging whether the processing target object information reaches a trigger threshold value or not and executing operation.
As a further improvement, if it is determined that the target is not the target, the target information is not acquired.
As a further improvement, the object information includes at least a lateral relative distance, a lateral relative speed, a longitudinal relative distance, and a longitudinal relative speed of the object from the vehicle.
As a further improvement, the processing target object information is to calculate a longitudinal collision remaining time and a lateral collision remaining time.
As a further improvement, the trigger threshold is a longitudinal trigger threshold, a width trigger threshold, or a transverse trigger threshold.
As a further improvement, if the longitudinal collision remaining time is greater than the longitudinal triggering threshold, the vehicle braking is not triggered; and if the longitudinal collision residual time is less than or equal to the longitudinal triggering threshold, judging whether the transverse relative distance is less than or equal to the width triggering threshold.
As a further improvement, the width triggering threshold is half of the vehicle width, and if the lateral relative distance is greater than half of the vehicle width, it is determined whether the lateral collision remaining time is less than or equal to the set lateral triggering threshold; if the transverse relative distance is less than or equal to half the vehicle width, vehicle braking is triggered.
As a further improvement, if the lateral collision remaining time is greater than the lateral trigger threshold, the vehicle braking is not triggered; and if the residual time of the transverse collision is less than or equal to the transverse triggering threshold value, triggering the vehicle to brake.
The present invention additionally provides a false triggering prevention automatic emergency brake control system, the system comprising,
the information acquisition module is used for acquiring target object information in a detection field angle range;
the data analysis module is connected with the information acquisition module and is used for receiving the target object information sent by the information acquisition module and calculating the acquired target object information to obtain result information;
and the execution module is connected with the data analysis module and is used for receiving the result information of the data analysis module and controlling whether the vehicle brakes according to the obtained result information.
As a further improvement, the information acquisition module includes an AEB sensor, the AEB sensor includes a camera sensor and a radar sensor, the camera sensor is fixed at a symmetrical center position of a windshield of the vehicle, the radar sensor is fixed in front of a bumper of the vehicle, the camera sensor and the radar sensor establish a detection field angle and a detection distance, the detection field angle and the detection distance form a detection area, the detection area is a fan-shaped structure, and the target object information at least includes a transverse relative distance, a transverse relative speed, a longitudinal relative distance, and a longitudinal relative speed of the target object and a vehicle head.
As a further improvement, the data analysis module calculates the acquired target object information to obtain longitudinal collision remaining time and transverse collision remaining time, and compares and judges the longitudinal collision remaining time, the transverse relative distance and the transverse collision remaining time with a longitudinal triggering threshold, a width triggering threshold and a transverse triggering threshold respectively.
The invention also provides a server, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the computer program, the automatic emergency braking control method for preventing the false triggering is realized.
The present invention is also directed to a storage medium for storing an application program for executing the false triggering prevention automatic emergency braking control method according to the present invention.
By adopting the technical scheme, the invention has the beneficial effects that: the method and the device have the advantages that the triggering conditions in the longitudinal direction and the triggering conditions in the transverse direction are set, the longitudinal triggering conditions comprise longitudinal collision residual time, the transverse triggering conditions comprise transverse triggering width and transverse collision residual time, the AEB system is enabled to remarkably improve the precision of collision risk assessment through the triggering conditions in the longitudinal direction and the transverse direction, the false triggering of the AEB system is effectively reduced, and the driving experience of a driver is remarkably improved while the AEB collision avoidance capacity is ensured.
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.
Clearly, such objects and other objects of the present invention will become more apparent from the detailed description of the preferred embodiments hereinafter set forth in the various drawings and drawings.
These and other objects, features and advantages of the present invention will become more apparent from the following detailed description of one or more preferred embodiments of the invention, as illustrated in the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
In the drawings, like parts are designated with like reference numerals, and the drawings are schematic and not necessarily drawn to scale.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only one or several embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to such drawings without creative efforts.
FIG. 1 is a schematic diagram of a prior art automatic emergency braking system;
FIG. 2 is a schematic structural diagram of an anti-false-triggering automatic emergency braking control method, system, server, and camera sensor and radar sensor in a storage medium according to the present invention;
FIG. 3 is a schematic diagram of the triggering of the anti-false triggering automatic emergency braking control method, system, server and storage medium of the present invention;
FIG. 4 is a schematic structural diagram of the false triggering prevention automatic emergency braking control method, system, server and control system in the storage medium according to the present invention;
FIG. 5 is a schematic structural diagram of an anti-false-triggering automatic emergency braking control method, system, server and control method in a storage medium according to the present invention;
FIG. 6 is a schematic diagram of the triggering of a vehicle in a straight lane in the false triggering prevention automatic emergency braking control method, system, server and storage medium of the present invention;
fig. 7 is a schematic diagram of triggering of a vehicle passing through a traffic intersection in a straight-ahead manner in the false triggering prevention automatic emergency braking control method, system, server and storage medium of the present invention.
Description of reference numerals:
1. a camera sensor; 2. a radar sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
In addition, in the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate orientations and positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. However, the direct connection means that the two bodies are not connected through a transition structure, but are connected through a connection structure to form a whole. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The following describes embodiments of the present invention with reference to the drawings.
Referring to fig. 2-5, fig. 2 is a schematic structural diagram of an anti-false-triggering automatic emergency braking control method, system, server, and camera sensor and radar sensor in a storage medium according to the present invention; FIG. 3 is a schematic diagram of the triggering of the anti-false triggering automatic emergency braking control method, system, server and storage medium of the present invention; FIG. 4 is a schematic structural diagram of the false triggering prevention automatic emergency braking control method, system, server and control module in the storage medium according to the present invention; fig. 5 is a schematic structural diagram of the false triggering prevention automatic emergency braking control method, system, server and control method in the storage medium according to the present invention.
A method of controlling an automatic emergency brake against false triggering, the method comprising,
acquiring an obstacle in a detection field angle range, and judging whether the obstacle is a target object; the method comprises the steps that a camera sensor 1 identifies an obstacle ahead of the vehicle in the process of traveling, a radar sensor 2 detects the distance and the motion state of the obstacle ahead, a controller acquires camera signals and radar signals of the camera sensor 1 and the radar sensor 2, the acquired camera signals are compared with a set image (namely, an image of a corresponding obstacle type is arranged in the controller), whether the obstacle exists ahead or not and the motion state of the obstacle are judged, the obstacle type (namely, a pedestrian, a vehicle, an animal, a well cover and the like) is judged through deep learning, obstacle information is sent to the radar for fusion judgment, and whether the obstacle is a target set by a system or not is judged according to the obstacle type, wherein the target can be the pedestrian, the vehicle or the animal;
if the target object is determined to be set by the system, acquiring target object information (namely, the transverse relative distance, the transverse relative speed, the longitudinal relative distance and the longitudinal relative speed between the target object and the vehicle), and processing the target object information (namely, calculating the longitudinal collision remaining time and the transverse collision remaining time according to the transverse relative distance, the transverse relative speed, the longitudinal relative distance and the longitudinal relative speed between the target object and the vehicle); if the target object is judged not to be the target object set by the system, the target object information is not acquired; the calculation equations of the longitudinal collision residual time and the transverse collision residual time are respectively as follows:
Figure BDA0003238751800000051
wherein the content of the first and second substances,
DX: relative distance of the target object in the vehicle longitudinal direction (X direction);
DY: the relative distance of the target in the vehicle lateral direction (Y direction);
VX: the relative speed of the target object in the vehicle longitudinal direction (X direction);
VY: the relative speed of the target in the vehicle lateral direction (Y direction);
TTCX: the time remaining for the collision of the target object in the vehicle longitudinal direction (X direction), i.e., the longitudinal collision remaining time;
TTCY: the time remaining for the collision of the target object in the vehicle lateral direction (Y direction), i.e., the lateral collision remaining time;
judging whether the processing target object information reaches a trigger threshold value and executing operation, namely judging whether the longitudinal collision residual time is less than or equal to a set longitudinal trigger threshold value, wherein the set longitudinal trigger threshold value can be 1.4 seconds; if the longitudinal collision remaining time is greater than the longitudinal trigger threshold, vehicle braking is not triggered (the AEB system is not triggered); if the longitudinal crash remaining time is less than or equal to the longitudinal trigger threshold, it is determined whether the lateral relative distance is less than or equal to one-half of the vehicle width (1/2W)car)；
It is judged whether the lateral relative distance is less than or equal to half the vehicle width (1/2W)car) (ii) a If the transverse relative distance is larger than half of the width of the vehicle, judging whether the transverse collision residual time is smaller than or equal to a set transverse triggering threshold value; if the transverse relative distance is less than or equal to half of the vehicle width, triggering vehicle braking (triggering AEB);
judging whether the residual time of the transverse collision is less than or equal to a set transverse triggering threshold value, wherein the set transverse triggering threshold value can be 1.0 second; if the residual time of the transverse collision is greater than the transverse triggering threshold, the vehicle brake is not triggered (AEB is not triggered); if the lateral collision remaining time is less than or equal to the lateral trigger threshold, vehicle braking is triggered (AEB triggered).
Referring to fig. 2-7, fig. 2 is a schematic structural diagram of an anti-false-triggering automatic emergency braking control method, system, server, and camera sensor and radar sensor in a storage medium according to the present invention; FIG. 3 is a schematic diagram of the triggering of the anti-false triggering automatic emergency braking control method, system, server and storage medium of the present invention; FIG. 4 is a schematic structural diagram of the false triggering prevention automatic emergency braking control method, system, server and control module in the storage medium according to the present invention; FIG. 5 is a schematic structural diagram of an anti-false-triggering automatic emergency braking control method, system, server and control method in a storage medium according to the present invention; FIG. 6 is a schematic diagram of the triggering of a vehicle in a straight lane in the false triggering prevention automatic emergency braking control method, system, server and storage medium of the present invention; fig. 7 is a schematic diagram of triggering of a vehicle passing through a traffic intersection in a straight-ahead manner in the false triggering prevention automatic emergency braking control method, system, server and storage medium of the present invention.
The specific control method of the invention is as follows:
when the vehicle moves straight on a one-way lane or passes through a traffic intersection, the obstacle enters the detection range of the AEB system of the vehicle, and the AEB sensor firstly senses the obstacle and judges whether the obstacle is a target object set by the system. If the target object is judged to be the obstacle, the position of the obstacle is always tracked, and the residual time TTC of the target object in the longitudinal collision relative to the vehicle is calculated in real timeXTransverse relative distance DYAnd time to lateral collision TTCYThen, whether the AEB is triggered is determined according to the following conditions:
(1)TTCXless than or equal to a longitudinal Trigger Threshold (TTC)X-trigger) Time, judge DYWhether less than or equal to the width trigger threshold (i.e., half the vehicle width, 1/2W)car) If yes, AEB triggers;
(2) if D isYGreater than 1/2WcarThen, determine TTCYWhether less than or equal to a lateral Trigger Threshold (TTC)Y-trigger) If yes, the AEB system triggers, if no, the AEB does not trigger.
Through the AEB triggering mode, longitudinal and transverse triggering constraints can be carried out on the vehicle, longitudinal and transverse collision risk assessment is integrated, the assessment precision of the AEB system on the collision risk is improved, and the false triggering phenomenon that the AEB is still activated when the longitudinal triggering conditions and the transverse conditions in the conventional AEB system are met is avoided.
Referring to fig. 2-4, fig. 2 is a schematic structural diagram of an anti-false-triggering automatic emergency braking control method, system, server, and camera sensor and radar sensor in a storage medium according to the present invention; FIG. 3 is a schematic diagram of a triggering structure of the false triggering prevention automatic emergency braking control method, system, server and storage medium according to the present invention; fig. 4 is a schematic structural diagram of the false triggering prevention automatic emergency braking control method, system, server and control module in the storage medium according to the present invention.
To achieve the above embodiments, the present embodiment further provides an automatic emergency braking control system for preventing false triggering, which includes
The information acquisition module is used for acquiring target object information in a detection field angle range; the information acquisition module includes the AEB sensor, the AEB sensor includes camera sensor and radar sensor, camera sensor is fixed in vehicle windshield's symmetry center position on, radar sensor is fixed in the bumper the place ahead of vehicle, camera sensor and radar sensor establish survey angle of vision and detection distance, survey angle of vision and detection distance and constitute the detection area is fan-shaped structure, target object information includes horizontal relative distance, horizontal relative speed, vertical relative distance and the vertical relative speed of target object and vehicle locomotive at least.
The data analysis module is connected with the information acquisition module and is used for receiving the target object information sent by the information acquisition module and calculating the acquired target object information to obtain result information; and the data analysis module calculates the acquired target object information to obtain longitudinal collision residual time and transverse collision residual time, and compares and judges the longitudinal collision residual time, the transverse relative distance and the transverse collision residual time with a longitudinal triggering threshold, a width triggering threshold and a transverse triggering threshold respectively.
And the execution module is connected with the data analysis module and is used for receiving the result information of the data analysis module and controlling whether the vehicle brakes according to the obtained result information.
The invention also provides a server, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the computer program, the automatic emergency braking control method for preventing the false triggering is realized.
The present invention also provides a storage medium for storing an application program for executing the false triggering prevention automatic emergency braking control method according to the present invention.
It is to be understood that the disclosed embodiments of the invention are not limited to the particular process steps or materials disclosed herein, but rather, are extended to equivalents thereof as would be understood by those of ordinary skill in the relevant art. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.
Reference in the specification to "an embodiment" means that a particular feature, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrase or "an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment.
Furthermore, the described features or characteristics may be combined in any other suitable manner in one or more embodiments. In the above description, certain specific details are provided, such as thicknesses, amounts, etc., to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, materials, and so forth.

Claims (13)

1. An automatic emergency braking control method for preventing false triggering is characterized in that: the method comprises the following steps of,
acquiring an obstacle in a detection field angle range, and judging whether the obstacle is a target object;
if the target object is judged, acquiring target object information and processing the target object information;
and judging whether the processing target object information reaches a trigger threshold value or not and executing operation.
2. The false triggering prevention automatic emergency braking control method according to claim 1, characterized in that: and if the target object is judged not to be the target object, the target object information is not acquired.
3. The false triggering prevention automatic emergency braking control method according to claim 1, characterized in that: the object information includes at least a lateral relative distance, a lateral relative speed, a longitudinal relative distance, and a longitudinal relative speed of the object from the vehicle.
4. The false triggering prevention automatic emergency brake control method according to claim 3, characterized in that: the processing target object information is used for calculating the longitudinal collision residual time and the transverse collision residual time.
5. The false trigger prevention automatic emergency brake control method according to claim 4, characterized in that: the trigger threshold is a longitudinal trigger threshold, a width trigger threshold and a transverse trigger threshold.
6. The false trigger prevention automatic emergency brake control method according to claim 5, characterized in that: if the longitudinal collision residual time is greater than the longitudinal triggering threshold, the vehicle is not triggered to brake; and if the longitudinal collision residual time is less than or equal to the longitudinal triggering threshold, judging whether the transverse relative distance is less than or equal to the width triggering threshold.
7. The false triggering prevention automatic emergency braking control method according to claim 6, characterized in that: the width triggering threshold value is half of the width of the vehicle, and if the transverse relative distance is greater than half of the width of the vehicle, whether the transverse collision residual time is less than or equal to the set transverse triggering threshold value is judged; if the transverse relative distance is less than or equal to half the vehicle width, vehicle braking is triggered.
8. The false triggering prevention automatic emergency brake control method according to claim 7, characterized in that: if the residual time of the transverse collision is greater than the transverse triggering threshold value, the vehicle is not triggered to brake; and if the residual time of the transverse collision is less than or equal to the transverse triggering threshold value, triggering the vehicle to brake.
9. An automatic emergency braking control system for preventing false triggering is characterized in that: the system comprises a plurality of devices which are connected with each other,
the information acquisition module is used for acquiring target object information in a detection field angle range;
the data analysis module is connected with the information acquisition module and is used for receiving the target object information sent by the information acquisition module and calculating the acquired target object information to obtain result information;
and the execution module is connected with the data analysis module and is used for receiving the result information of the data analysis module and controlling whether the vehicle brakes according to the obtained result information.
10. The false trigger resistant automatic emergency brake control system of claim 9, wherein: the information acquisition module includes the AEB sensor, the AEB sensor includes camera sensor and radar sensor, camera sensor is fixed in vehicle windshield's symmetry center position on, radar sensor is fixed in the bumper the place ahead of vehicle, camera sensor and radar sensor establish survey angle of vision and detection distance, survey angle of vision and detection distance and constitute the detection area is fan-shaped structure, target object information includes horizontal relative distance, horizontal relative speed, vertical relative distance and the vertical relative speed of target object and vehicle locomotive at least.
11. The false trigger resistant automatic emergency brake control system of claim 10, wherein: and the data analysis module calculates the acquired target object information to obtain longitudinal collision residual time and transverse collision residual time, and compares and judges the longitudinal collision residual time, the transverse relative distance and the transverse collision residual time with a longitudinal triggering threshold, a width triggering threshold and a transverse triggering threshold respectively.
12. A server, characterized by: comprising a memory, a processor and a computer program stored on said memory and executable on said processor, said processor implementing a false triggering prevention automatic emergency braking control method according to any one of claims 1-8 when executing said computer program.
13. A storage medium, characterized by: for storing an application program for executing the false triggering prevention automatic emergency braking control method according to any one of claims 1-8.
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