Emergency braking operation method and device in ramp

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Emergency braking operation method and device in ramp

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YU CHEN / XIE JINJING / XIONG PANPAN

The invention discloses an emergency braking operation method in a ramp, which comprises the following steps of: judging the position of a self-vehicle: judging whether the self-vehicle is in the ramp or not, and continuing if the self-vehicle is in the ramp; coordinate conversion: acquiring position and posture information of the obstacle and lane line information on two sides, and performing coordinate conversion; target preliminary screening: preliminarily screening out obstacles which are impossible to collide; tracking the trajectory of the target vehicle: fitting the motion condition of the target vehicle by adopting a constant turning rate and a constant speed model; collision time calculation: adopting two-stage collision risk calculation; and brake strategy selection: calibrating a collision time threshold value ittc of the vehicle, setting a collision risk level of the vehicle according to the predicted collision time TTC1 and the real-time collision time TTC2, and formulating a brake strategy. The invention further discloses an emergency braking operation device in the ramp. According to the method, the application scene of the AEB function is expanded, collision accidents in ramps are avoided, the safety of vehicle driving is improved, and the method can be widely applied to the field of intelligent automobiles.

本发明公开了一种匝道中紧急制动运作方法，步骤如下：自车位置判断：判断自车是否处于匝道中，如果是则继续；坐标转换：获取障碍物位姿信息以及两侧车道线信息，做坐标转换；目标初步筛选：初步筛掉不可能碰撞的障碍物；目标车辆轨迹跟踪：采用恒定转弯率及恒定速度模型来拟合目标车辆运动情况；碰撞时间计算：采用两级碰撞风险计算；制动策略选定：标定自车的碰撞时间阈值ittc，并根据预测碰撞时间TTC1、实时碰撞时间TTC2，设定车辆的碰撞风险等级，制定制动策略。本发明还公开了一种匝道中紧急制动运作装置。本发明拓展了AEB功能的适用场景，避免匝道中碰撞事故的发生，提高了车辆行驶的安全性，可以广泛应用于智能化汽车领域。

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Document information

Title :

Emergency braking operation method and device in ramp

Additional title:

一种匝道中紧急制动运作方法及装置

Contributors:

YU CHEN (author) / XIE JINJING (author) / XIONG PANPAN (author)

Publication date :

2024-03-01

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

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