Automatic emergency braking grading control method and system

A technology of automatic emergency braking and hierarchical control, applied in the direction of control devices, input parameters of external conditions, vehicle components, etc., can solve the problems of application to be explored, application scope to be expanded, etc., to achieve the effect of improving safety and comfort

Active Publication Date: 2020-12-29
WUHAN UNIV OF TECH
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Problems solved by technology

[0004] At present, the automatic emergency braking system has been mass-produced on some models, but the applicable scenarios are relatively simple, and there are many ideal assumptions. In complex scenes such as intersections, pedestrian detection, and multiple moving obstacle targets, there are more restrictive conditions, and the scope of application of related algorithms still needs to be expanded.
Algorithm models related to automatic emergency braking systems, especially the extended automatic emergency braking system models implemented by intelligent algorithms, are mostly only verified in the virtual simulation environment, and their application in actual vehicles remains to be explored

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  • Automatic emergency braking grading control method and system
  • Automatic emergency braking grading control method and system
  • Automatic emergency braking grading control method and system

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Embodiment Construction

[0054]The present invention will be further described below in conjunction with specific examples and drawings.

[0055]The present invention provides an automatic emergency braking hierarchical control system, such asFigure 5As shown, it includes on-board sensors, used to obtain real-time information about the surrounding environment of the vehicle; memory, used to store computer programs; on-board computers, used to call the computer programs to complete the control strategy; embedded controllers, used to According to the control strategy and preset levels, the brake pedal control motor and the electronic accelerator are respectively brake controlled. The brake motor is mainly a braking strategy, and the electronic throttle is mainly to cut off the oil circuit operation.

[0056]Vehicle sensors include environment perception modules and positioning modules. The environment perception modules include cameras, millimeter-wave radars and lidars; millimeter-wave radars and lidars are connec...

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Abstract

The invention provides an automatic emergency brake grading control method and system. The self car surrounding information is obtained in real time; according to the collected self car surrounding information, whether the road is the straight multiple lane or curve multiple lane is judged; if the road is the straight multiple lane, through the least square method and the track preliminary calculation method, a sidecar doubling track is predicated; if the road is the curve multiple lane, through the threshold value method, a disturbance target is removed, through a target position compensationmethod, the relative transverse distance between the self car and the sidecar is judged; a safety distance model is used for calculating the dangerous coefficient; and when the dangerous coefficientis smaller than or equal to 1, according to the preset level, grading brake is carried out. The capacity of autonomous vehicle for responding to different environments and automatic processing can beobviously improved, and the safety and comfort of the autonomous vehicles can be improved.

Description

Technical field[0001]The invention belongs to the field of automatic emergency braking for automatic driving, and specifically relates to a hierarchical control method and system for automatic emergency braking.Background technique[0002]The field of autonomous driving is developing rapidly. Autonomous driving can assist the driver to make correct decisions or take over the driver to directly control the vehicle before an accident occurs, which can maximize the vehicle's ideal driving behavior for safe driving. Therefore, autonomous driving has become a research in the field of vehicle safety Hot spots, the existing autonomous driving technologies mainly include adaptive cruise system, lane-changing assist system, automatic emergency braking system, etc.[0003]The automatic emergency braking system can judge the safety status of the vehicle through the dynamic and static obstacles in the driving environment and the driving state of the vehicle. When the collision danger is predicted t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/09B60W50/14B60W50/16
CPCB60W30/09B60W50/14B60W50/16B60W2050/143B60W2555/20
Inventor 尹智帅宋志明聂琳真
Owner WUHAN UNIV OF TECH
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