CN-121973735-A - Automatic emergency braking method and device for vehicle, storage medium and vehicle

CN121973735ACN 121973735 ACN121973735 ACN 121973735ACN-121973735-A

Abstract

The application discloses a vehicle automatic emergency braking method, a device, a storage medium and a vehicle, wherein the method comprises the steps of obtaining the road surface adhesion coefficient of the current vehicle and the real-time load; the method comprises the steps of inquiring a preset braking decision table according to the road surface attachment coefficient and the real-time load, obtaining a current braking trigger threshold value, wherein the preset braking decision table is the corresponding relation between the road surface attachment coefficient and the load of the vehicle, which are determined according to a preset dynamic safety distance formula at different running speeds, and the braking trigger threshold value, obtaining the environment sensing distance corresponding to the current vehicle, comparing the environment sensing distance with the current braking trigger threshold value, and performing braking decision on the current vehicle according to a comparison result. Therefore, the braking intervention time can be adaptively adjusted according to different road conditions and different vehicle load states, and further, more accurate and more reasonable automatic emergency braking decision can be realized under various complex working conditions, and the safety and the adaptability of the vehicle are improved.

Inventors

YU TIANLONG
WANG ZHE
GAN XIN
YE LIUMING
HE GUOLIANG

Assignees

上汽通用五菱汽车股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260112

Claims (10)

1. A method of automatic emergency braking of a vehicle, the method comprising: Acquiring the attachment coefficient and the real-time load of the running road surface of the current vehicle; Inquiring a preset braking decision table according to the road surface attachment coefficient and the real-time load to obtain a current braking trigger threshold, wherein the preset braking decision table is a corresponding relation among the road surface attachment coefficient, the vehicle load and the braking trigger threshold determined according to a preset dynamic safety distance formula at different running speeds; and obtaining the environment sensing distance corresponding to the current vehicle, comparing the environment sensing distance with the current braking triggering threshold value, and performing braking decision on the current vehicle according to a comparison result.
2. The method according to claim 1, wherein the step of obtaining the running road surface adhesion coefficient of the current vehicle includes: Acquiring pavement image information through a visual sensor, and determining a first pavement attachment coefficient estimated value and a corresponding first confidence coefficient based on the pavement image information; acquiring a ground echo signal through a radar sensor, and determining a second road surface attachment coefficient estimated value and a corresponding second confidence coefficient based on the ground echo signal; And according to the first confidence coefficient and the second confidence coefficient, carrying out weighted fusion on the first road surface adhesion coefficient estimated value and the second road surface adhesion coefficient estimated value to obtain a driving road surface adhesion coefficient.
3. The method of claim 1, wherein the step of obtaining the real-time load of the current vehicle comprises: Acquiring a supporting force measured value of a vehicle suspension system and a vehicle vertical acceleration; Based on a vehicle vertical dynamics model, the supporting force measured value and the vertical acceleration are taken as observed quantities, and a state estimation algorithm is adopted to estimate the total mass of the vehicle in real time, so that the real-time load is obtained.
4. The method of claim 1, wherein prior to the step of querying a preset braking decision table based on the road adhesion coefficient and the real-time load to obtain a current braking trigger threshold, further comprising: Determining a plurality of calibration scenes and corresponding scene information according to preset calibration requirements, wherein the scene information comprises calibration running speed, road surface adhesion coefficient and vehicle load; Substituting the calibrated driving speeds, the road adhesion coefficients and the vehicle weights into a preset dynamic safety distance formula respectively to obtain a safety distance threshold corresponding to each calibrated scene as a braking trigger threshold; And under the condition of the calibrated driving speeds, establishing the corresponding relation among the road adhesion coefficients, the vehicle loads and the brake triggering thresholds to obtain a preset brake decision table.
5. The method of claim 4, wherein the expression of the predetermined dynamic safety distance formula is: In the formula, For a dynamic safety distance value as the brake trigger threshold, For the said nominal driving speed, For the purpose of loading the vehicle in question, For the road surface adhesion coefficient of the road surface, The acceleration of the gravity is that, For the response delay time of the vehicle, Is a quality compensation factor.
6. The method of claim 4, wherein the step of obtaining a current brake triggering threshold value based on the road adhesion coefficient and the real-time load query preset brake decision table comprises: acquiring the current running speed of the current vehicle, and determining a target calibration running speed in the calibration running speeds according to the current running speed; acquiring a preset braking decision table corresponding to the target calibration running speed; and taking the road surface adhesion coefficient and the real-time load as query inputs, and taking a brake trigger threshold corresponding to the query inputs as a current brake trigger threshold in the preset brake decision table.
7. The method of claim 1, wherein the step of obtaining the environmental awareness distance corresponding to the current vehicle, comparing the environmental awareness distance with the current braking trigger threshold, and making a braking decision for the current vehicle according to the comparison result comprises: acquiring the actual perceived distance between the current vehicle and the environmental obstacle as the environmental perceived distance; Comparing the environment sensing distance with the current braking triggering threshold; When the environment sensing distance is larger than the current braking trigger threshold, generating an early warning prompt according to a distance difference value between the environment sensing distance and the current braking trigger threshold; and when the environment sensing distance is smaller than or equal to the current braking trigger threshold value, controlling the current vehicle to carry out braking decision.
8. An automatic emergency braking apparatus for a vehicle, the apparatus comprising: the information sensing module is used for acquiring the road surface adhesion coefficient of the current vehicle and the real-time load; the braking decision module is used for inquiring a preset braking decision table according to the road surface attachment coefficient and the real-time load to obtain a current braking trigger threshold value, wherein the preset braking decision table is a corresponding relation between the road surface attachment coefficient, the vehicle load and the braking trigger threshold value, which are determined according to a preset dynamic safety distance formula at different running speeds; And the execution control module is used for acquiring the environment sensing distance corresponding to the current vehicle, comparing the environment sensing distance with the current braking trigger threshold value, and performing braking decision on the current vehicle according to a comparison result.
9. A storage medium having stored thereon a vehicle automatic emergency braking program which when executed by a processor implements the vehicle automatic emergency braking method according to any one of claims 1 to 7.
10. A vehicle having an electronic control unit mounted thereon, the electronic control unit comprising a memory, a processor, and a vehicle automatic emergency braking program stored on the memory and operable on the processor, the vehicle automatic emergency braking program when executed by the processor implementing the vehicle automatic emergency braking method according to any one of claims 1 to 7.

Description

Automatic emergency braking method and device for vehicle, storage medium and vehicle Technical Field The application relates to the technical field of vehicle braking, in particular to an automatic emergency braking method and device for a vehicle, a storage medium and the vehicle. Background With the rapid popularity of intelligent driving assistance systems in the field of passenger vehicles, automatic emergency braking (Autonomous Emergency Braking, AEB) functionality has become a common concern for regulations and markets. In order to cover more complex traffic scenes, a whole vehicle factory generally carries out platform upgrading on sensing, controlling and executing links, so that an AEB system can continuously work under different weather, load and road conditions and is used as a basic safety base of a follow-up high-order automatic driving function. The current mass production scheme triggers braking according to a fixed threshold set in a calibration stage, and the parameters of the current mass production scheme are usually based on a good road surface and a nominal load. However, when the actual mass of the vehicle or the tire-road adhesion characteristic deviates from the reference, it is difficult for the AEB system to adjust the trigger timing and the braking force simultaneously, resulting in a phenomenon of early intervention or too late response under low adhesion or heavy load conditions, thereby affecting ride stability and resulting in collision risk. Disclosure of Invention The application mainly aims to provide a vehicle automatic emergency braking method, a device, a storage medium and a vehicle, and aims to solve the technical problem that the braking time is inaccurate under different working conditions when the decision logic of the existing AEB system is calibrated based on a fixed trigger threshold. In order to achieve the above object, the present application provides a method for automatically and emergently braking a vehicle, comprising: Acquiring the attachment coefficient and the real-time load of the running road surface of the current vehicle; Inquiring a preset braking decision table according to the road surface attachment coefficient and the real-time load to obtain a current braking trigger threshold, wherein the preset braking decision table is a corresponding relation among the road surface attachment coefficient, the vehicle load and the braking trigger threshold determined according to a preset dynamic safety distance formula at different running speeds; and obtaining the environment sensing distance corresponding to the current vehicle, comparing the environment sensing distance with the current braking triggering threshold value, and performing braking decision on the current vehicle according to a comparison result. In one embodiment, the step of obtaining the road adhesion coefficient of the current vehicle includes: Acquiring pavement image information through a visual sensor, and determining a first pavement attachment coefficient estimated value and a corresponding first confidence coefficient based on the pavement image information; acquiring a ground echo signal through a radar sensor, and determining a second road surface attachment coefficient estimated value and a corresponding second confidence coefficient based on the ground echo signal; And according to the first confidence coefficient and the second confidence coefficient, carrying out weighted fusion on the first road surface adhesion coefficient estimated value and the second road surface adhesion coefficient estimated value to obtain a driving road surface adhesion coefficient. In an embodiment, the step of obtaining the real-time load of the current vehicle includes: Acquiring a supporting force measured value of a vehicle suspension system and a vehicle vertical acceleration; Based on a vehicle vertical dynamics model, the supporting force measured value and the vertical acceleration are taken as observed quantities, and a state estimation algorithm is adopted to estimate the total mass of the vehicle in real time, so that the real-time load is obtained. In an embodiment, before the step of obtaining the current braking trigger threshold by querying a preset braking decision table according to the road adhesion coefficient and the real-time load, the method further includes: Determining a plurality of calibration scenes and corresponding scene information according to preset calibration requirements, wherein the scene information comprises calibration running speed, road surface adhesion coefficient and vehicle load; Substituting the calibrated driving speeds, the road adhesion coefficients and the vehicle weights into a preset dynamic safety distance formula respectively to obtain a safety distance threshold corresponding to each calibrated scene as a braking trigger threshold; And under the condition of the calibrated driving speeds, establishing the corresponding relation among the road