The invention provides a vehicle emergency braking control method and system, a storage medium and a vehicle. The control method comprises the steps that obstacle information is collected, and a first yaw velocity is calculated according to a wheel speed pulse of a current vehicle; fusing the first yaw velocity with a second yaw velocity output by an IMU (Inertial Measurement Unit) sensor by using weighted mean filtering to obtain a third yaw velocity; according to the third yaw velocity and a driving track equation of the current vehicle, whether the obstacle is on the driving track of the current vehicle or not is judged, and if yes, the collision risk of the current vehicle is obtained according to the longitudinal vehicle speed of the current vehicle, the longitudinal acceleration of the IMU sensor, the braking deceleration slope and the maximum braking deceleration; the current vehicle is controlled to be braked emergently; otherwise, the obstacle information is collected again. According to the method, the situation of parking emergency braking false triggering during vehicle steering can be effectively reduced, and meanwhile the braking effect of parking emergency braking during acceleration and deceleration of the vehicle is optimized.

    本发明提供一种车辆紧急制动控制方法,系统,存储介质及车辆;所述控制方法包括:采集障碍物信息,并根据当前车辆的轮速脉冲计算出第一横摆角速度;然后利用加权均值滤波将所述第一横摆角速度与IMU传感器输出的第二横摆角速度进行融合,以获得第三横摆角速度;进一步根据所述第三横摆角速度与当前车辆的行驶轨迹方程,判断障碍物是否在当前车辆的行驶轨迹上,若在,则根据当前车辆的纵向车速,IMU传感器纵向加速度,制动减速度斜率和最大制动减速度,来获得当前车辆的碰撞风险,以控制当前车辆紧急制动;否则重新采集障碍物信息。本发明可以有效减少车辆转向时泊车紧急制动误触发的情况,同时优化车辆处于加减速时泊车紧急制动的刹停效果。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Vehicle emergency braking control method and system, storage medium and vehicle


    Weitere Titelangaben:

    一种车辆紧急制动控制方法,系统,存储介质及车辆


    Beteiligte:
    KANG YIXUAN (Autor:in) / WANG DEXIANG (Autor:in) / LU WEI (Autor:in) / CHEN QINGYE (Autor:in) / LI FAREN (Autor:in)

    Erscheinungsdatum :

    2023-05-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



    Vehicle emergency braking system, vehicle emergency braking method, vehicle, and medium

    DU SHOUCHAO / LI YONGPENG / LI MIAO et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Vehicle emergency braking control method and device, vehicle and storage medium

    MENG XIANGXI / ZHANG JIAN / LI LINRUN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Emergency braking control method and system for autonomous vehicle, vehicle and storage medium

    YI KAIHONG / DU BIAO / XIONG CHAO et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Vehicle braking method, storage medium, vehicle control unit, braking system and vehicle

    LING HEPING / WANG NING / LI GUIZHONG et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Vehicle emergency braking method and device, vehicle and storage medium

    YAO YUN / CHEN XIN | Europäisches Patentamt | 2023

    Freier Zugriff