The invention provides a low-speed automatic emergency braking method, device and equipment and a storage medium, and the method comprises the steps: obtaining sensor information of a current vehicle, fusing target information, fusing drivable region information and vehicle control right attribution information, and obtaining a first collision risk according to the sensor information; a second collision risk is obtained according to the fused target information, a third collision risk is obtained according to the fused drivable area information, the first collision risk, the second collision risk and the third collision risk are arbitrated to obtain a comprehensive collision risk, and a vehicle braking strategy is generated based on the comprehensive collision risk and vehicle control right attribution information. Performing low-speed automatic emergency braking on the current vehicle according to the vehicle braking strategy; the vehicle control strategy is generated by fully transferring the vehicle sensor and comprehensively considering the vehicle driving area and the information of the vehicle controller, the occurrence rate of wrong braking and missing braking is effectively reduced, and the safety performance of the vehicle is improved.
本发明提供一种低速自动紧急制动方法、装置、设备及存储介质,该方法通过获取当前车辆的传感器信息、融合目标信息、融合可行驶区域信息,以及车辆控制权归属信息,根据传感器信息得到第一碰撞风险,根据融合目标信息得到第二碰撞风险,根据融合可行驶区域信息得到第三碰撞风险,并对上述第一碰撞风险、第二撞风险、第三碰撞风险进行仲裁,得到综合碰撞风险,基于综合碰撞风险和车辆控制权归属信息生成车辆制动策略,根据车辆制动策略对当前车辆进行低速自动紧急制动;通过充分调动车辆传感器并综合考虑车辆可行驶区域和车辆控制器的信息生成车辆控制策略,有效降低误制动漏制动的发生率,提升了车辆的安全性能。
Low-speed automatic emergency braking method, device and equipment and storage medium
一种低速自动紧急制动方法、装置、设备及存储介质
2023-08-04
Patent
Electronic Resource
Chinese
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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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