CN-122009201-A - Self-adaptive emergency braking method and system

CN122009201ACN 122009201 ACN122009201 ACN 122009201ACN-122009201-A

Abstract

The application discloses a self-adaptive emergency braking method and a system, which relate to the technical field of vehicle control, wherein the method comprises the steps of carrying out cluster analysis based on driving behavior raw data obtained periodically to construct a driving style model; and adjusting the TTC trigger threshold and the braking curve of the target vehicle based on the driver style label of the target vehicle by combining a preset adjusting rule. The application constructs the driver style portrait through machine learning and dynamically adjusts the triggering strategy of vehicle braking, thereby realizing prospective personalized safety protection.

Inventors

LEI KUNHUA
DONG WEI
LIU BIN
YANG YANG
PEI JINSHUN

Assignees

岚图汽车科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260331

Claims (10)

1. An adaptive emergency braking method, the method comprising the steps of: Performing cluster analysis based on the driving behavior raw data obtained periodically to construct a driving style model; Analyzing driving behavior data of a target vehicle based on the driving style model, and judging a driver style label of the target vehicle; Based on the driver style tag of the target vehicle, combining with a preset regulation rule, regulating a TTC trigger threshold and a brake curve of the target vehicle; wherein the driver style tag includes aggressive, standard, and mild.
2. The adaptive emergency braking method of claim 1, wherein: the target vehicle pre-stores a standard TTC trigger threshold, a mild TTC trigger threshold and an aggressive TTC trigger threshold; the target vehicle pre-stores a standard braking curve, a mild braking curve and an aggressive braking curve; The adjustment rule includes: Based on the type of the driver style tag, configuring a corresponding TTC trigger threshold and braking curve to the target vehicle, wherein, The values of the aggressive TTC trigger threshold, the standard TTC trigger threshold and the mild TTC trigger threshold are sequentially increased; the gentle degree of the aggressive braking curve, the standard braking curve and the gentle braking curve increases in sequence.
3. The adaptive emergency braking method of claim 1, wherein: The driving behavior raw data and the data types of the driving behavior data comprise an accelerator pedal opening change rate, a brake pedal force, a brake pedal depth, an average following time interval, a maximum deceleration relative to a front vehicle, a steering wheel corner speed, a transverse position deviation frequency in a lane, a transverse position deviation amplitude in the lane, an over-bending average speed, an overtaking frequency, a sudden acceleration frequency and a sudden braking frequency.
4. The adaptive emergency braking method of claim 1, further comprising the steps of: when the beyond-vision risk exists in front of the target vehicle, executing a preset pre-braking strategy, wherein, The beyond-the-horizon risk comprises a front vehicle sudden braking event, a traffic accident event, a road construction event, a blind area pedestrian or obstacle event and a bad weather road section early warning event.
5. The adaptive emergency braking method of claim 4, wherein the pre-braking strategy includes the steps of: pre-pressurizing a braking system of the target vehicle and distributing pre-braking early warning information; if the active braking signal of the target vehicle is received in the preset early warning time after the pre-braking early warning information is issued, braking is carried out based on the adjusted TTC trigger threshold and the braking curve; And if the active braking signal of the target vehicle is not received in the preset early warning time after the pre-braking early warning information is issued, controlling the main AEB system of the target vehicle to brake based on the regulated TTC trigger threshold and the braking curve.
6. An adaptive emergency braking system, the system comprising: The model construction module is used for carrying out cluster analysis based on the driving behavior original data acquired periodically to construct a driving style model; the style judging module is used for analyzing driving behavior data of the target vehicle based on the driving style model and judging a driver style label of the target vehicle; The braking adjusting module is used for adjusting the TTC trigger threshold value and the braking curve of the target vehicle based on the driver style tag of the target vehicle and combining with a preset adjusting rule; wherein the driver style tag includes aggressive, standard, and mild.
7. The adaptive emergency braking system of claim 6, wherein: the target vehicle pre-stores a standard TTC trigger threshold, a mild TTC trigger threshold and an aggressive TTC trigger threshold; the target vehicle pre-stores a standard braking curve, a mild braking curve and an aggressive braking curve; The adjustment rule includes: Based on the type of the driver style tag, configuring a corresponding TTC trigger threshold and braking curve to the target vehicle, wherein, The values of the aggressive TTC trigger threshold, the standard TTC trigger threshold and the mild TTC trigger threshold are sequentially increased; the gentle degree of the aggressive braking curve, the standard braking curve and the gentle braking curve increases in sequence.
8. The adaptive emergency braking system of claim 6, wherein: The driving behavior raw data and the data types of the driving behavior data comprise an accelerator pedal opening change rate, a brake pedal force, a brake pedal depth, an average following time interval, a maximum deceleration relative to a front vehicle, a steering wheel corner speed, a transverse position deviation frequency in a lane, a transverse position deviation amplitude in the lane, an over-bending average speed, an overtaking frequency, a sudden acceleration frequency and a sudden braking frequency.
9. The adaptive emergency braking system of claim 6, wherein the system further comprises: A pre-actuation module for executing a pre-actuation strategy when there is a beyond-line-of-sight risk in front of the target vehicle, wherein, The beyond-the-horizon risk comprises a front vehicle sudden braking event, a traffic accident event, a road construction event, a blind area pedestrian or obstacle event and a bad weather road section early warning event.
10. The adaptive emergency braking system of claim 9, wherein: The pre-braking module is also used for pre-pressurizing a braking system of the target vehicle and distributing pre-braking early warning information; The pre-braking module is further used for braking based on the adjusted TTC trigger threshold and the braking curve when the active braking signal of the target vehicle is received in a preset early warning time after the pre-braking early warning information is issued; And the pre-braking module is further used for controlling the main AEB system of the target vehicle to brake based on the adjusted TTC trigger threshold and the braking curve if the active braking signal of the target vehicle is not received within the preset pre-warning time after the pre-braking pre-warning information is issued.

Description

Self-adaptive emergency braking method and system Technical Field The application relates to the technical field of vehicle control, in particular to a self-adaptive emergency braking method and system. Background Automatic emergency braking systems have become an important active safety configuration for modern automobiles. However, existing AEB systems suffer from the following significant drawbacks: 1. Generalized calibration, lack of personalization, that is, the trigger threshold (e.g., time to collision TTC) and the brake strength of the system are fixed and cannot be adapted to drivers of different driving styles. For aggressive drivers, the system may intervene too early to produce a "ghost brake" that interferes with driving, and for gentle drivers, the system intervention may be too late to provide optimal protection. 2. Perception limitation and lack of predictability, namely that the system completely depends on vehicle-mounted sensors (radar and cameras) to perceive front risks. Under a complex scene of a curve, a ramp or a front car shielding, the sensing capability is limited, and early warning and pre-braking cannot be realized. Therefore, in order to meet the actual requirements, an adaptive emergency braking technology is proposed. Disclosure of Invention Aiming at the defects in the prior art, the application aims to provide a self-adaptive emergency braking method and a self-adaptive emergency braking system, which are used for constructing a driver style portrait through machine learning and dynamically adjusting a triggering strategy of vehicle braking so as to realize prospective personalized safety protection. In order to achieve the above purpose, the application adopts the following technical scheme: in a first aspect, the present application provides an adaptive emergency braking method comprising the steps of: Performing cluster analysis based on the driving behavior raw data obtained periodically to construct a driving style model; Analyzing driving behavior data of a target vehicle based on the driving style model, and judging a driver style label of the target vehicle; Based on the driver style tag of the target vehicle, combining with a preset regulation rule, regulating a TTC trigger threshold and a brake curve of the target vehicle; wherein the driver style tag includes aggressive, standard, and mild. On the basis of the technical scheme, the target vehicle pre-stores a standard TTC trigger threshold, a mild TTC trigger threshold and an aggressive TTC trigger threshold; the target vehicle pre-stores a standard braking curve, a mild braking curve and an aggressive braking curve; The adjustment rule includes: Based on the type of the driver style tag, configuring a corresponding TTC trigger threshold and braking curve to the target vehicle, wherein, The values of the aggressive TTC trigger threshold, the standard TTC trigger threshold and the mild TTC trigger threshold are sequentially increased; the gentle degree of the aggressive braking curve, the standard braking curve and the gentle braking curve increases in sequence. On the basis of the technical scheme, the driving behavior raw data and the data types of the driving behavior data comprise an accelerator pedal opening change rate, a brake pedal force, a brake pedal depth, an average following time interval, a maximum deceleration relative to a preceding vehicle, a steering wheel corner speed, a lane transverse position deviation frequency, a lane transverse position deviation amplitude, an over-bending average speed, an overtaking frequency, a sudden acceleration frequency and a sudden braking frequency. On the basis of the technical scheme, the method further comprises the following steps: when the beyond-vision risk exists in front of the target vehicle, executing a preset pre-braking strategy, wherein, The beyond-the-horizon risk comprises a front vehicle sudden braking event, a traffic accident event, a road construction event, a blind area pedestrian or obstacle event and a bad weather road section early warning event. On the basis of the technical scheme, the pre-actuation strategy comprises the following steps: pre-pressurizing a braking system of the target vehicle and distributing pre-braking early warning information; if the active braking signal of the target vehicle is received in the preset early warning time after the pre-braking early warning information is issued, braking is carried out based on the adjusted TTC trigger threshold and the braking curve; And if the active braking signal of the target vehicle is not received in the preset early warning time after the pre-braking early warning information is issued, controlling the main AEB system of the target vehicle to brake based on the regulated TTC trigger threshold and the braking curve. In a second aspect, the present application provides an adaptive emergency braking system, the system comprising: The model construction module is used for carrying