CN108146433B - Emergency automatic braking system and method for vehicle - Google Patents
Emergency automatic braking system and method for vehicle Download PDFInfo
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- CN108146433B CN108146433B CN201611107904.XA CN201611107904A CN108146433B CN 108146433 B CN108146433 B CN 108146433B CN 201611107904 A CN201611107904 A CN 201611107904A CN 108146433 B CN108146433 B CN 108146433B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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Abstract
The invention relates to a method for emergency automatic braking of a vehicle and an emergency automatic braking system of the vehicle. The method for emergency automatic braking of a vehicle comprises the following steps: determining at least one autobrake intervention time, including a first autobrake intervention time, the autobrake intervention time being based on a latest braking time and a latest turning time of a host vehicle relative to a target vehicle and being associated with a relative velocity and a relative acceleration between the host vehicle and the target vehicle; calculating a current time of collision of the host vehicle with respect to the target vehicle; comparing the first autobrake intervention time to the time of impact; and emergency automatic braking of the host vehicle with a maximum braking force when the collision time is less than the first automatic braking intervention time. The method for emergency automatic braking of the vehicle fully considers the intention of a driver in braking or steering, and avoids the situation that the driver is relieved of the trouble when emergency automatic braking is carried out.
Description
Technical Field
The present invention relates to a driving control strategy for a vehicle, and more particularly, to an emergency automatic braking system and method for a vehicle.
Background
With the progress of camera technology and sensor technology such as electromagnetic wave radar, the auxiliary active safety functions such as emergency automatic braking of vehicles are receiving more and more attention in the market. The emergency automatic braking system of the vehicle aims to transmit a braking command to an electronic braking control module by a driver under the condition that the driver does not respond to the danger of a rear-end collision front vehicle or the like or the braking is not timely, so that the automatic braking of the vehicle is realized by transmitting braking liquid from a brake master cylinder to a brake wheel cylinder, and the traffic accident is avoided or the loss caused by the traffic accident is reduced. Generally, an emergency automatic braking system of a vehicle includes a sensor (e.g., a camera or an electromagnetic wave radar), a control module (e.g., an engine control module, an electronic brake control module, etc.), and an actuator (a vehicle foundation braking system). The camera or the radar measures and obtains relative position information between the host vehicle and the target vehicle and then sends the relative position information to the control module, and the control module outputs an emergency automatic braking signal according to signals about the state of the vehicle, detected by various sensors of the vehicle, by utilizing the relative position information and then transmits the emergency automatic braking signal to the electronic braking module and the engine control module to realize speed reduction and torque reduction.
Currently, there are many research achievements on emergency automatic braking systems for vehicles. However, some of the known emergency automatic braking systems of vehicles do not adequately take into account the complexity of the operating conditions of the vehicle during everyday driving, resulting in an algorithm of the emergency automatic braking strategy that is too simple and poorly adaptable; some systems use fuzzy control algorithms to implement the control strategy, resulting in very large real-time computation and thus difficult engineering to implement. In addition, the existing vehicle emergency automatic braking system does not consider the intention of braking or avoiding collision of the driver during the driving process to a great extent, so that the emergency braking is always automatically executed before the driver applies steering or braking by himself, and the driver is frightened and puzzled, thereby losing the significance of actively protecting the driver of the vehicle.
Disclosure of Invention
In view of the above prior art, it is therefore an object of the present invention to provide an improved emergency automatic braking system for a vehicle.
The object of the invention is also to provide an improved method for emergency automatic braking of a vehicle.
To achieve the object of the present invention, according to a first aspect of the present invention, an emergency automatic braking system of a vehicle is provided, the emergency automatic braking system comprising a detection module, a comparison module and an execution device, which are signal-coupled to each other, wherein,
the detection module determines at least one automatic braking intervention time and calculates a current time of collision of the host vehicle with the target vehicle, wherein the automatic braking intervention time is based on a latest braking time and a latest turning time of a host vehicle relative to a target vehicle and is associated with a relative velocity and a relative acceleration between the host vehicle and the target vehicle;
the comparison module compares the automatic braking intervention time with the collision time respectively and then outputs the comparison result to the execution device;
and the executing device correspondingly automatically brakes the main vehicle according to the comparison result.
Optionally, according to an embodiment of the present invention, the automatic braking intervention time includes a first automatic braking intervention time, a second automatic braking intervention time, and a third automatic braking intervention time, where the second automatic braking intervention time is greater than the first automatic braking intervention time, and the third automatic braking intervention time is greater than the second automatic braking intervention time.
Optionally, according to an emergency automatic braking system of a vehicle provided by the technical solution of the present invention, the detection module includes a calibration table related to the relative velocity and the relative acceleration, and the calibration table is used for determining the automatic braking intervention time.
Optionally, according to an emergency automatic braking system of a vehicle provided by the technical solution of the present invention, the detection module includes a camera and/or an electromagnetic wave radar.
Optionally, according to an aspect of the present invention, there is provided an emergency automatic braking system for a vehicle, further comprising a quit detection mechanism for detecting a driver's intention of the host vehicle to enable the emergency automatic braking of the vehicle to quit in time.
Optionally, according to an emergency automatic braking system of a vehicle provided by the technical solution of the present invention, the exit detection mechanism includes an accelerator pedal sensor, a brake pedal sensor, and a steering wheel angle sensor.
The emergency automatic braking system for a vehicle according to the invention has the advantage that not only is the occurrence of a rear-end collision avoided or at least the danger of a rear-end collision reduced when the host vehicle and the target vehicle are likely to have a rear-end collision, but also the driving intention of the driver in such a situation can be taken into account at the same time, so that the driver is prevented from being frightened.
To achieve the object of the present invention, according to another aspect of the present invention, there is provided a method of emergency automatic braking of a vehicle, the method including:
determining at least one autobrake intervention time, including a first autobrake intervention time, the autobrake intervention time being based on a latest braking time and a latest turning time of a host vehicle relative to a target vehicle and being associated with a relative velocity and a relative acceleration between the host vehicle and the target vehicle;
calculating a current time of collision of the host vehicle with respect to the target vehicle;
comparing the first autobrake intervention time to the time of impact; and
emergency automatic braking of the host vehicle with a maximum braking force is performed when the collision time is less than the first automatic braking intervention time.
Optionally, according to an aspect of the present invention, there is provided an emergency automatic braking method for a vehicle, the method further including:
determining a second autobrake intervention time, wherein the second autobrake intervention time is greater than the first autobrake intervention time;
comparing the second autobrake intervention time to the time of collision; and
automatically braking the host vehicle with a braking force less than the maximum braking force when the collision time is greater than the first automatic braking intervention time and less than the second automatic braking intervention time.
Optionally, according to an embodiment of the present invention, there is provided an emergency automatic braking method for a vehicle, wherein the first automatic braking intervention time and the second automatic braking intervention time have a maximum value.
Optionally, according to an aspect of the present invention, there is provided an emergency automatic braking method for a vehicle, the method further including:
determining a third autobrake intervention time, wherein the third autobrake intervention time is greater than the second autobrake intervention time;
comparing the third autobrake intervention time to the time of collision; and
when the collision time is greater than the second automatic braking intervention time and less than the third automatic braking intervention time, a wheel cylinder pressure of a braking device of the host vehicle is established in advance.
Optionally, according to an aspect of the present invention, there is provided an emergency automatic braking method for a vehicle, wherein the first automatic braking intervention time and the second automatic braking intervention time are based on a minimum value of the latest braking time and the latest turning time and further include an increase value associated with a relative velocity and/or a relative acceleration between the host vehicle and the target vehicle.
Optionally, according to an emergency automatic braking method for a vehicle provided by the technical solution of the present invention, the larger the relative speed and/or the relative acceleration is, the larger the added value of the first automatic braking intervention time and the second automatic braking intervention time is.
Optionally, according to an emergency automatic braking method for a vehicle provided by an aspect of the present invention, the increased values of the first automatic braking intervention time and the second automatic braking intervention time are obtained from the relative speed and/or the relative acceleration by a table lookup method.
Optionally, according to an emergency automatic braking method for a vehicle provided by the technical solution of the present invention, in a case where the relative speed and/or the relative acceleration are the same, an increase value when the target vehicle moves is larger than an increase value when the target vehicle is stationary.
Optionally, according to an emergency automatic braking method for a vehicle provided by the technical solution of the present invention, the third automatic braking intervention time is positively correlated to the second automatic braking intervention time.
Optionally, according to an aspect of the present invention, there is provided a method for emergency automatic braking of a vehicle, the method further comprising a step of exiting the emergency automatic braking, wherein the emergency automatic braking of the host vehicle exits in time when it is detected that a driver of the host vehicle depresses an accelerator pedal, a brake pedal, or a steering wheel.
The method for emergency automatic braking of a vehicle according to the invention has the advantage that the intention of the driver in braking or steering is taken into full account, and that the driver is prevented from being surprised when emergency automatic braking is performed.
Drawings
The invention and its preferred embodiments are explained in more detail below with reference to the drawings. Wherein,
FIG. 1 illustrates a target vehicle traveling ahead of a host vehicle at a constant speed co-lane with the host vehicle;
FIG. 2 shows a target vehicle stationary in front of a host vehicle co-lane with the host vehicle;
FIG. 3 shows a target vehicle traveling ahead of a host vehicle at a deceleration in the same lane as the host vehicle;
FIG. 4 illustrates a driver of a host vehicle making a steering lane change away from a lane of a target vehicle; and
fig. 5 shows the method steps of the emergency automatic braking of a vehicle according to the invention.
Detailed Description
Fig. 1 to 4 each show the relative position of the host vehicle 1 and the target vehicle 2 in the method according to the invention for emergency automatic braking of a vehicle. Specifically, when the host vehicle 1 travels at a certain speed: fig. 1 shows a target vehicle 2 travelling ahead of a host vehicle 1 at a constant speed, co-lane with the host vehicle; fig. 2 shows the target vehicle 2 stationary in front of the host vehicle 1 on the same lane as the host vehicle; fig. 3 shows that the target vehicle 2 is traveling ahead of the host vehicle 1 at a deceleration in the same lane as the host vehicle; and fig. 4 shows the driving intention of the driver of the host vehicle 1 to turn to a lane change. In the situation of fig. 4, the driver may have realized the danger of a rear-end collision and turned the vehicle himself, at which point the driver does not wish the emergency automatic braking system to intervene on the vehicle.
In order to take the relative position situation between the host vehicle 1 and the target vehicle 2 into full account in fig. 1 to 4, the emergency automatic braking method according to the invention should theoretically be at the same time later than the latest braking time of the host vehicle (if not all brakes at this time, then no collision can be avoided) and the latest steering time (if not all brakes at this time, then no collision can be avoided). Where the latest braking time and the latest steering time are terms of art well known to those skilled in the art in NCAP (new car crash test). In this case, the latest braking time and the latest steering time can be calculated from the vehicle dynamics between the host vehicle and the target vehicle, and different vehicle manufacturers have different specifications for the latest braking time and the latest steering time in the event of a vehicle collision.
At the same time, the relative velocity and the relative acceleration between the host vehicle 1 and the target vehicle 2 are also taken into account by the emergency automatic braking method according to the invention. According to the invention, the method for emergency automatic braking of a vehicle determines an automatic braking intervention time, in the preferred embodiment the first automatic braking intervention time T, taking into account the latest braking time TTB, the latest turning time TTT and the relative speed and relative acceleration between the host vehicle and the target vehiclem、TsSecond automatic braking intervention time tm、tsAnd third autobrake intervention time τm、τs。
The first automatic braking intervention time Tm、TsRepresents the moment of emergency automatic braking of the host vehicle 1 with maximum braking force, in which the first automatic braking intervention time T of the host vehiclem、TsDepend onThe target vehicle varies depending on the traveling state. The first autobrake intervention time T when the target vehicle 2 is in motionmComprises the following steps:
the first autobrake intervention time T when the target vehicle 2 is stationarysComprises the following steps:
where Δ V represents the relative velocity between the host vehicle 1 and the target vehicle 2 and Δ a represents the relative acceleration between the host vehicle 1 and the target vehicle 2.
The case where a full-force emergency automatic braking needs to be performed appropriately in advance when there is a relative velocity between the host vehicle and the target vehicle is considered and can be configured as a calibration table relating to the relative velocity.
And
the case where the full-force emergency automatic braking needs to be appropriately performed in advance when there is a relative acceleration between the host vehicle 1 and the target vehicle 2 is considered and it can be configured as a calibration table relating to the relative acceleration.
Preferably, in this case, in the case where the relative velocity av and the relative acceleration aa are the same,
ratio of scores of calibration
Is small and
ratio of scores of calibration
Is small.
Preferably, the first autobrake application time T is provided when the target vehicle is stationary and movingm、TsThe maximum value is limited.
Meanwhile, in the emergency automatic braking method of a vehicle according to the present invention, the following is also considered: if the host vehicle 1 is immediately automatically braked urgently with full force, it may cause discomfort or even panic to the driver, while the first automatic braking intervention time Tm、TsThe maximum value is also limited. The method according to the invention therefore provides that the first autobrake intervention time T is reached by the host vehiclem、TsA second automatic braking intervention time is also set in front of the vehicle, and the second automatic braking intervention time represents the moment when the main vehicle is subjected to emergency automatic braking with lower braking force.
Here, with the first automatic braking intervention time Tm、TsSimilarly, the second autobrake intervention time tm、tsCan be expressed as:
when the subject vehicle 2 is in motion
；
When the target vehicle 2 is stationary
。
Wherein,
a calibration table configurable to be related to said relative speed and/or
And
can be configured as a calibration table relating to the relative acceleration.
Preferably, in this case, in the case where the relative velocity and the relative acceleration are the same,
ratio of scores of calibration
Is small and
ratio of scores of calibration
Is small.
In this case, the second autobrake intervention time t is preferably provided when the target vehicle is stationary and movingm、tsThe maximum value is limited.
The method according to the invention also takes into account the following situations: at the second autobrake intervention time tm、tsPreviously, the driver could also autonomously apply the brakes by stepping on the brake pedal. In this case, the method according to the invention for emergency automatic braking of a vehicle is also provided for this purpose with a third automatic braking intervention time τm、τs. The third autobrake intervention time τm、τsRepresenting a timing at which a pressure of a brake wheel cylinder is established in advance to a braking device of the host vehicle.
The third autobrake intervention time τm、τsExemplary may be expressed as:
while the target vehicle 2 is in motion
When the target vehicle 2 is stationary
，
Wherein, here, the
May be set to a fixed value indicating that the third autobrake application time is advanced by a period of time relative to the second autobrake application time
。
Preferably, as shown in fig. 5, the method for emergency automatic braking of a vehicle according to the invention provides that the time of collision TTC (i.e. the time before the collision) between the host vehicle 1 and the target vehicle 2 is calculated and the first automatic braking is inserted for a time Tm、TsThe second automatic braking intervention time tm、tsAnd the third autobrake intervention time τm、τsComparing with the time to collision TTC; when the time to collision TTC is less than the first automatic braking intervention time Tm、TsThen, emergency automatic braking is performed on the host vehicle 1 with the maximum braking force; when the time to collision TTC is greater than the first automatic braking intervention time Tm、TsAnd is less than the second autobrake intervention time tm、tsAutomatically braking the host vehicle 1 with a braking force less than the maximum braking force; when the time to collision TTC is greater than the second automatic braking intervention time tm、tsAnd less than said third autobrake intervention time τm、τsThen, the pressure of the brake wheel cylinder is established in advance to the braking device of the host vehicle 1.
It is obvious that the embodiments of the invention describe the first autobrake application time, the second autobrake application time and the third autobrake application time only by way of example. On the basis of the embodiments of the present invention, a person skilled in the art can also weight the terms in the expression of the three autobrake intervention times accordingly according to the destination of use, and these variants also use the concept of the present invention and therefore also fall within the scope of the present invention.
In addition, the method according to the invention for emergency automatic braking of a vehicle provides that the method for emergency automatic braking of the vehicle is exited in time when the driver of the host vehicle 1 presses an accelerator pedal, a brake pedal or turns the steering wheel. This can be detected, for example, by a corresponding sensor.
In addition, the invention relates to an emergency automatic braking system for a vehicle in order to implement the method for emergency automatic braking of a vehicle according to the invention. The emergency automatic braking system comprises a signal-connected detection module, a comparison module and an execution device. The detection module uses a camera and/or an electromagnetic wave radar to calculate the current time to collision TTC of the host vehicle 1 and uses a calibration table to calculate a first automatic braking intervention time Tm、TsSecond automatic braking intervention time tm、tsAnd a third autobrake intervention time τm、τs(ii) a The comparison module respectively compares the time to collision TTC with a first autobrake intervention time Tm、TsSecond automatic braking intervention time tm、tsAnd a third autobrake intervention time τm、τsComparing; and the executing device correspondingly executes the emergency automatic braking of the vehicle according to the comparison result.
In addition, the emergency automatic braking system of the vehicle according to the present invention further includes exit detection means for sensing the intention of the driver of the host vehicle to enable the emergency automatic braking of the vehicle to exit in time. The exit detection mechanism illustratively includes an accelerator pedal sensor, a brake pedal sensor, and a steering wheel angle sensor.
The above embodiments have mainly explained the vehicle emergency automatic brake system and the vehicle emergency automatic brake method according to the present invention. Although only a few embodiments of the present invention have been described, those skilled in the art will appreciate that the present invention may be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and various modifications and substitutions may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (15)
1. An emergency automatic braking system of a vehicle, characterized in that the emergency automatic braking system comprises a detection module, a comparison module and an execution device which are in signal connection with each other,
the detection module determines at least one automatic braking intervention time and calculates a time of collision of a current host vehicle with a target vehicle, wherein the automatic braking intervention time is based on a latest braking time and a latest steering time of a host vehicle relative to a target vehicle and is associated with a relative velocity and a relative acceleration between the host vehicle and the target vehicle;
the comparison module compares the automatic braking intervention time with the collision time respectively and then outputs the comparison result to the execution device;
the executing device correspondingly automatically brakes the host vehicle according to the comparison result;
the emergency automatic braking system further comprises an exit detection mechanism for detecting a driver's intention of the host vehicle to enable timely exit of the emergency automatic braking of the vehicle.
2. The emergency automatic brake system of a vehicle according to claim 1, wherein the automatic brake intervening time includes a first automatic brake intervening time, a second automatic brake intervening time, and a third automatic brake intervening time, wherein the second automatic brake intervening time is longer than the first automatic brake intervening time, the third automatic brake intervening time is longer than the second automatic brake intervening time, the first automatic brake intervening time represents a time when the host vehicle performs emergency automatic braking with a maximum braking force, the second automatic brake intervening time represents a time when the host vehicle performs emergency automatic braking with a lower braking force, and the third automatic brake intervening time represents a time when a pressure of a brake wheel cylinder is established in advance for a brake device of the host vehicle.
3. An emergency automatic braking system for vehicles according to claim 1, characterized in that said detection module comprises a calibration table relating said relative speed and said relative acceleration, said calibration table being used to determine said automatic braking intervention time.
4. The emergency automatic braking system for vehicle according to claim 1, wherein said detection module comprises a camera and/or an electromagnetic wave radar.
5. The emergency automatic brake system for vehicles according to claim 4, wherein said exit detection mechanism comprises an accelerator pedal sensor, a brake pedal sensor and a steering wheel angle sensor.
6. A method of emergency automatic braking of a vehicle, the method comprising:
determining at least one autobrake intervention time, including a first autobrake intervention time, the autobrake intervention time being based on a latest braking time and a latest turning time of a host vehicle relative to a target vehicle and being associated with a relative velocity and a relative acceleration between the host vehicle and the target vehicle;
calculating a current time of collision of the host vehicle with respect to the target vehicle;
comparing the first autobrake intervention time to the time of impact; and
emergency automatic braking of the host vehicle with a maximum braking force when the collision time is less than the first automatic braking intervention time;
the method further comprises the step of exiting emergency automatic braking, wherein the emergency automatic braking of the host vehicle is timely exited upon detection of depression of an accelerator pedal, a brake pedal or turning of a steering wheel by a driver of the host vehicle;
the first automatic braking intervention time represents a time at which emergency automatic braking of the host vehicle with a maximum braking force is performed.
7. The method of claim 6, wherein said method further comprises:
determining a second autobrake intervention time, wherein the second autobrake intervention time is greater than the first autobrake intervention time;
comparing the second autobrake intervention time to the time of collision; and
automatically braking the host vehicle with a braking force less than the maximum braking force when the collision time is greater than the first automatic braking intervention time and less than the second automatic braking intervention time;
the second automatic braking intervention time represents a time when emergency automatic braking is performed on the host vehicle with a lower braking force.
8. The method of claim 7, wherein said first autobrake application time and said second autobrake application time have a maximum value.
9. The method of claim 7, wherein said method further comprises:
determining a third autobrake intervention time, wherein the third autobrake intervention time is greater than the second autobrake intervention time;
comparing the third autobrake intervention time to the time of collision; and
when the collision time is greater than the second automatic braking intervention time and less than the third automatic braking intervention time, establishing a wheel cylinder pressure of a braking device of the host vehicle in advance;
the third automatic brake intervention time represents a time at which a pressure of a brake wheel cylinder is established in advance for a braking device of the host vehicle.
10. The method of claim 7, wherein the first autobrake engagement time and the second autobrake engagement time are based on a minimum of the latest braking time and the latest steering time and further include an incremental value associated with a relative velocity and/or a relative acceleration between the host vehicle and the target vehicle.
11. The method of claim 10, wherein the greater the relative velocity and/or the relative acceleration, the greater the increase in the first autobrake application time and the second autobrake application time.
12. The method of claim 10, wherein the increased values of said first autobrake application time and said second autobrake application time are determined from said relative velocity and/or said relative acceleration by a table lookup.
13. The method of claim 10, wherein the incremental value of said target vehicle when moving is greater than the incremental value of said target vehicle when stationary for the same relative velocity and/or said relative acceleration.
14. The method of claim 9, wherein said third autobrake application time is positively correlated to said second autobrake application time.
15. The method of claim 14, wherein said third autobrake application time is greater than said second autobrake application time by a fixed value.
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| CN109830105A (en) * | 2019-03-18 | 2019-05-31 | 中国安全生产科学研究院 | A kind of device and method preventing the fixed danger of vehicle collision trackside |
| CN110103959B (en) * | 2019-04-02 | 2021-05-28 | 清华大学苏州汽车研究院（相城） | Self-adaptive cruise control method |
| CN110304054A (en) * | 2019-07-03 | 2019-10-08 | 国唐汽车有限公司 | A kind of automatic emergency brake method based on Multi-sensor Fusion |
| CN111572541B (en) * | 2020-04-14 | 2022-06-14 | 吉利汽车研究院（宁波）有限公司 | Vehicle obstacle avoidance method and system |
| CN111923884B (en) * | 2020-09-11 | 2021-02-09 | 深圳小木科技有限公司 | New energy automobile and braking system and method thereof |
| CN112721924B (en) * | 2021-01-19 | 2022-04-19 | 英博超算(南京)科技有限公司 | Automatic emergency braking system combining with driver state monitoring |
| CN112937520B (en) * | 2021-03-15 | 2022-07-19 | 东风柳州汽车有限公司 | Emergency braking method and device for vehicle, commercial vehicle and storage medium |
| CN115635958B (en) * | 2022-12-22 | 2023-03-14 | 福思(杭州)智能科技有限公司 | Vehicle driving assisting method and device |
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