The invention discloses an automatic emergency braking decision-making method and a system. The method comprises the steps of determining a spatial position and a motion state of a potential dangerousobstacle through a multi-source sensor fusion method; acquiring a road surface image; based on the Bayesian classification principle, judging the type of the road surface according to the road surface image; determining an estimated value of a road surface adhesion coefficient according to the road surface type; and determining an automatic emergency braking opportunity according to the spatial position and the motion state of the potential dangerous obstacle and the estimated value of the road adhesion coefficient, and performing feedback control on a braking system to realize automatic emergency collision avoidance. An existing automatic emergency braking decision-making method and an existing vehicle-mounted device are effectively improved, road adhesion coefficient estimated value factors are considered, the function of sensing road information in advance is achieved, and therefore the collision avoidance function of the automatic emergency braking device working on a complex roadis improved, and the active safety performance of an automobile is improved.

    本发明公开了一种自动紧急制动决策方法及装置。该方法包括:通过多源传感器融合的方法,确定潜在危险障碍物的空间位置与运动状态;获取路面图像;基于贝叶斯分类原理,根据所述路面图像判断路面类别;根据所述路面类别确定路面附着系数估计值;根据所述潜在危险障碍物的空间位置与运动状态以及所述路面附着系数估计值,确定自动紧急制动时机,对制动系统进行反馈控制,实现自动紧急避撞。本发明针对现有自动紧急制动决策方法及车载装置进行有效改进,考虑了路面附着系数估计值因素并具有提前感知路面信息的功能,从而提升了在复杂路面工作的自动紧急制动装置的避撞功能,提高了汽车主动安全性能。


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    Title :

    Automatic emergency braking decision-making method and system


    Additional title:

    一种自动紧急制动决策方法及系统


    Contributors:
    WANG JIANHUA (author) / WANG XINQUN (author) / WANG YUNCHENG (author) / XIE FEI (author) / SUN WEIYI (author)

    Publication date :

    2021-01-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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