The invention discloses a vehicle automatic braking method, device and equipment and a storage medium, and relates to the technical field of vehicle braking control. The method comprises the steps ofobtaining the position relation of a front vehicle relative to a host vehicle, and judging a lane where the front vehicle is located; when it is judged that the front vehicle is located on the adjacent lane of the lane where the host vehicle is located, calculating the transverse distance of the front vehicle relative to the host vehicle and the course angle of the front vehicle according to the position relation, and judging whether the front vehicle has the tendency to converge into the lane where the hos vehicle is located according to the course angle and the transverse distance; when it is judged that the front vehicle has the tendency to converge into the lane of the host vehicle, inputting the current motion parameters into a pre-trained first safe distance model to obtain first safe distance parameters, wherein the motion parameters comprise a currently estimated pavement adhesion coefficient; and controlling the vehicle to brake according to the first safety distance parameterand the actual longitudinal distance between the two vehicles. By means of the method, automatic braking can be achieved under the front vehicle cut-in working condition, the situation of collision with the front vehicle is effectively avoided, and practicability is greatly improved.

    一种车辆自动制动方法、装置、设备和存储介质,涉及车辆制动控制技术领域。其中,方法包括:获取前车相对自车的位置关系,并判断前车所在车道;当判断前车位于自车车道的相邻车道时,根据位置关系,计算前车相对自车的横向距离和前车的航向角,并根据航向角和横向距离判断前车是否存在汇入自车车道的倾向;当判断前车存在汇入自车车道的倾向时,将当前的运动参数输入至预先训练的第一安全距离模型,以获得第一安全距离参数;其中,运动参数包括当前估算的路面附着系数;根据第一安全距离参数以及两车之间的实际纵向距离,控制自车进行制动。该方法能够实现前车切入工况下自动制动,有效避免了与前车相撞的情况,大大提高了实用性。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle automatic braking method, device and equipment and storage medium


    Additional title:

    一种车辆自动制动方法、装置、设备和存储介质


    Contributors:
    GAO XIUJING (author) / CHEN BOBO (author)

    Publication date :

    2021-01-22


    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



    Vehicle automatic emergency braking method, device and equipment and storage medium

    ZHANG FAN / LU BIN | European Patent Office | 2022

    Free access


    Automatic braking method and device of vehicle, terminal equipment and storage medium

    LU ERSONG / LIU PAN / WANG SHAOQI et al. | European Patent Office | 2023

    Free access

    Vehicle automatic braking early warning method, device and equipment and storage medium

    TANG HAO / JIANG JUQING / NONG HUIHANG et al. | European Patent Office | 2024

    Free access

    Vehicle braking method, device and equipment, storage medium and vehicle

    TAN XI / CHEN JIAN / DU CHANGHONG | European Patent Office | 2023

    Free access