CN111452788A - Backward rear-end collision prevention control method and device - Google Patents
Backward rear-end collision prevention control method and device Download PDFInfo
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Abstract
The invention provides a backward rear-end collision prevention control method and a device, wherein the method comprises the following steps: acquiring peripheral environment information of a vehicle, wherein the peripheral environment information at least comprises information of a front obstacle and information of a rear obstacle; if the rear obstacle is a preset risk obstacle, calculating a rear-end collision danger level according to the information of the rear obstacle; judging whether a front buffering path exists according to the information of the front obstacle under the condition that the rear-end collision danger level meets the preset level condition and a rear-end collision prevention activation signal is obtained; if a front buffering path exists, judging whether the vehicle state information meets a preset forward movement condition; and if the vehicle state information meets the preset forward motion condition, executing a preset active protection operation. The method disclosed by the invention can actively avoid the potential dangerous target behind the vehicle, thereby reducing the risk of rear-end collision of the vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle active safety, in particular to a backward rear-end collision prevention control method and device.
Background
With the improvement of the quantity of all automobile passengers, road traffic accidents occur frequently, and rear-end collisions are the most common accident form. The technology for preventing rear-end collision is developed in order to improve the running safety of vehicles.
The existing rear-end collision prevention technology is mainly used for preventing the front vehicle from colliding with the rear of the self vehicle. The automobile self-adaptive cruise system or the automatic emergency braking AEB system outputs an acceleration or deceleration control command to a vehicle execution system based on the environmental information acquired by the forward environment sensing device, so as to assist the driver in carrying out forward active safety. However, since the rear-end collision of the vehicle cannot be prevented, the unsafe factors of the vehicle are increased.
Disclosure of Invention
In view of the above, in order to solve the above problems, the present invention provides a backward rear-end collision prevention control method and device, and the technical scheme is as follows:
a backward rear-end collision prevention control method comprises the following steps:
acquiring peripheral environment information of a vehicle, wherein the peripheral environment information at least comprises information of a front obstacle and information of a rear obstacle;
if the rear obstacle is a preset risk obstacle, calculating a rear-end collision danger level according to the information of the rear obstacle;
judging whether a front buffering path exists according to the information of the front obstacle under the condition that the rear collision danger level meets a preset level condition and a rear collision prevention activation signal is obtained;
if the front buffering path exists, judging whether the vehicle state information meets a preset forward movement condition;
if the vehicle state information meets the preset forward movement condition, executing a preset active protection operation;
wherein, the calculating the rear-end collision danger level according to the information of the rear obstacle comprises:
acquiring the relative speed of the rear obstacle and the vehicle, the relative distance of the rear obstacle and the vehicle and the running speed of the rear obstacle from the information of the rear obstacle;
calculating a basic collision avoidance distance according to the relative speed and the driving speed of the rear obstacle;
acquiring a preset collision threshold value and a relative compensation distance corresponding to the driving speed of the rear obstacle, and calculating a safety distance threshold value under the preset collision threshold value by using the relative compensation distance and the basic collision avoidance distance;
determining a rear-end collision risk level based on the relative distance and the safe distance threshold.
Preferably, the method for acquiring the backward anti-rear-end collision activation signal includes:
generating alarm information for representing the rear-end collision grade, and acquiring a rear-end collision prevention activation signal input by a user based on the alarm information; or
And under the condition that the rear-end collision danger level meets a preset level condition, automatically generating a rear-end collision prevention activation signal.
Preferably, the preset active protection operation includes:
accelerating any one or more of the buffering operation and the steering lane-change operation.
Preferably, the method further comprises:
and if the rear barrier is a preset risk-free barrier, generating prompt information for representing no rear-end collision risk.
Preferably, the method further comprises:
and if the front buffering path does not exist or the vehicle state information does not meet the preset forward movement condition, executing preset passive protection operation.
Preferably, the preset passive protection operation includes:
any one or more of a seat belt pretensioning operation, an active suspension adjustment operation, an electronic park system EPB park operation, and a brake system ESP pre-pressurization operation.
A backward rear-end collision prevention control device comprising:
the information acquisition module is used for acquiring peripheral environment information of the vehicle, wherein the peripheral environment information at least comprises information of a front obstacle and information of a rear obstacle;
the grade calculation module is used for calculating the rear-end collision danger grade according to the information of the rear obstacle if the rear obstacle is a preset risk obstacle;
the first judgment module is used for judging whether a front buffering path exists according to the information of the front obstacle under the condition that the rear-end collision danger level meets a preset level condition and a rear-end collision prevention activation signal is obtained; if the front buffering path exists, a second judgment module is triggered;
the second judgment module is used for judging whether the vehicle state information meets a preset forward motion condition or not; if the vehicle state information meets the preset forward motion condition, triggering an active protection module;
the active protection module is used for executing preset active protection operation;
the grade calculation module is specifically configured to:
acquiring the relative speed of the rear obstacle and the vehicle, the relative distance of the rear obstacle and the vehicle and the running speed of the rear obstacle from the information of the rear obstacle; calculating a basic collision avoidance distance according to the relative speed and the driving speed of the rear obstacle; acquiring a preset collision threshold value and a relative compensation distance corresponding to the driving speed of the rear obstacle, and calculating a safety distance threshold value under the preset collision threshold value by using the relative compensation distance and the basic collision avoidance distance; determining a rear-end collision risk level based on the relative distance and the safe distance threshold.
Preferably, the preset active protection operation includes:
accelerating any one or more of the buffering operation and the steering lane-change operation.
Compared with the prior art, the invention has the following beneficial effects:
the backward rear-end collision prevention control method and the backward rear-end collision prevention control device can detect the surrounding environment information of the vehicle; since most of the vehicles are automobiles during road driving, the probability of rear-end collision is much higher compared with that of non-motor vehicles or pedestrians, the rear-end collision danger level of the rear obstacle can be further determined when the rear obstacle is determined to be at risk, and therefore the preset active protection operation is executed when the rear-end collision level and the rear-end collision activation signal meet the conditions and the forward movement condition exists. The method disclosed by the invention can actively avoid the potential dangerous target behind the vehicle, thereby reducing the risk of rear-end collision of the vehicle.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method of a backward rear-end collision prevention control method according to an embodiment of the present invention;
fig. 2 is a flowchart of a part of a backward rear-end collision prevention control method according to an embodiment of the present invention;
fig. 3 is a flowchart of another method of a backward rear-end collision avoidance control method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a backward rear-end collision avoidance control device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a backward rear-end collision prevention control method which can realize backward rear-end collision prevention under urban working conditions and high-speed working conditions. The following brief introduction is made for urban and high-speed conditions:
under urban conditions, the driver of the vehicle finds that the front vehicle brakes and the vehicle is gradually stationary, and the driver of the vehicle steps on a brake pedal because the driver is closer to the front vehicle, and the rear vehicle does not notice or later notice the situation that the vehicle brakes, so that the situation that the rear vehicle knocks back to the rear vehicle can occur because the rear vehicle does not timely brake.
Under the working condition of a highway, the rear vehicle is close to the vehicle, and when the vehicle is braked strongly, the rear vehicle driver obtains the information and carries out braking operation with a certain delay, so that the rear-end collision risk exists.
A method flowchart of the backward rear-end collision avoidance control method provided in this embodiment is shown in fig. 1, and includes the following steps:
and S10, acquiring surrounding environment information of the vehicle, wherein the surrounding environment information at least comprises information of a front obstacle and information of a rear obstacle.
In the process of executing step S10, the vehicle-mounted millimeter wave radar may be used to obtain the surrounding environment information of the vehicle, which may specifically include the relative longitudinal speed, the relative transverse speed, the relative longitudinal distance, the relative transverse distance, and the like of the surrounding obstacles, such as a common car, a sports car, a commercial vehicle, a non-motor vehicle, a pedestrian, and the like.
In the specific implementation process, the front millimeter wave radar CAN be used for acquiring the related information of the front obstacle and sending the related information to the controller for executing the backward rear-end collision prevention control through the vehicle-mounted CAN; utilize the rear millimeter wave radar to obtain the relevant information of rear obstacle, of course, in order to guarantee the accuracy of rear obstacle discernment, CAN also utilize rear camera to gather the relevant information of rear obstacle simultaneously to send to the rear millimeter wave radar with the private CAN form, carry out data fusion by the rear millimeter wave radar, and send the data after fusing to above-mentioned controller through on-vehicle CAN network.
And S20, if the rear obstacle is a preset risk obstacle, calculating the rear-end collision danger level according to the information of the rear obstacle.
In the process of performing step S20, the peripheral obstacles may be classified in advance according to the risk of rear-end collision. For example, the braking distance of the commercial vehicle is long, and the driving behavior of the sports car on the road is relatively aggressive, so that the commercial vehicle and the sports car can be classified as high-risk obstacles; non-motor vehicles and pedestrians can be classified as risk-free obstacles because of their low driving speed; and a general car has a lower risk of rear-end collision than commercial vehicles and sports cars and a higher risk of rear-end collision than non-motor vehicles and pedestrians, and thus can be classified as a low-risk obstacle. Therefore, the preset high-risk barrier and the preset low-risk barrier are classified into the preset risk barrier, and the preset risk-free barrier is classified into the preset risk-free barrier.
And if the rear barrier is a preset risk barrier, the information of the waiting barrier is further processed by combining a basic vehicle following algorithm and a compensation algorithm of the anti-collision system so as to calculate the rear-end collision danger level of the rear barrier. And if the rear barrier is a preset risk-free barrier, generating prompt information for representing no rear-end collision risk, such as a green light.
In a specific implementation process, in step S20, "calculating a rear-end collision risk level according to information of a rear obstacle" may adopt the following steps, and a flowchart of the method is shown in fig. 3:
s201, acquiring the relative speed between the rear obstacle and the vehicle, the relative distance between the rear obstacle and the vehicle and the running speed of the rear obstacle from the information of the rear obstacle.
And S202, calculating a basic collision avoidance distance according to the relative speed and the running speed of the rear obstacle.
In the process of performing step S202, the following formula (1) may be adopted to calculate the base collision avoidance distance:
DRCA_b＝(vrear-vego)*(τrsys+τrdrv)-0.5*ACCego*(τrsys+τrdrv)2+fd0(vrear) (1)
wherein D isRCA_bBased collision avoidance distance, vrearThe speed of travel of a rear obstacle, vegoThe running speed, τ, of the host vehiclersysEstimating time, tau, for a predetermined response of a rear obstaclerdrvPreset reaction time for rear driver, ACCegoIs the acceleration of the vehicle, fd0(vrear) For compensating for safe distances at the driving speeds of different rear obstacles.
S203, obtaining a preset collision threshold value and a relative compensation distance corresponding to the running speed of the rear obstacle, and calculating a safety distance threshold value under the preset collision threshold value by using the relative compensation distance and the basic collision avoidance distance.
In the process of performing step S203, the preset pre-crash threshold may include a maximum pre-crash threshold, a middle pre-crash threshold, and a minimum pre-crash threshold. Calculating a safety distance threshold value under a preset collision threshold value according to the following calculation formula (2):
DRCA(TL)＝DRCA_b+fL(vrear,TL) (2)
wherein D isRCA(TL) For a safety distance threshold below a preset pre-hit threshold, fL(vrear,TL) The relative compensation distances at different preset pre-crash threshold values and the travel speed of the rear obstacle are preset.
And S204, determining the rear-end collision danger level based on the relative distance and the safety distance threshold.
In the process of performing step S204, the rear-end collision risk level may be determined according to the following formula (3):
wherein DangerLevelRear-end collision risk classification, DsenIs a relative distance, TL_MAXIs the maximum pre-crash threshold, TL_MIDFor a moderate pre-crash threshold, TL_MINIs the minimum pre-crash threshold.
It should be noted that, because the preset risk obstacles are further divided into two categories, namely high-risk obstacles and low-risk obstacles, in order to achieve the purpose that the high-risk obstacles enter active control in advance compared with the low-risk obstacles, the rear obstacles in the above formulas (1) to (3) are subjected to active controlPre-set estimated time of reaction tau of objectrsysPreset reaction time tau of rear driverrdrvRelative compensation distance f at different preset pre-collision threshold values and driving speed of rear obstacleL(vrear,TL) Maximum pre-crash threshold TL_MAXMedium pre-crash threshold TL_MIDAnd a minimum pre-crash threshold TL_MINDifferent values may be adaptively configured.
In addition, if the rear barrier is a high-risk barrier, the prompting message of 'driving away from the lane as soon as possible' can be displayed to the driver directly through an HMI (human machine interface) man-machine interaction system, such as a central control large screen.
S30, judging whether a front buffering path exists according to the information of the front obstacle under the condition that the rear-end collision danger level meets the preset level condition and the rear-end collision prevention activation signal is acquired; if there is a front bufferable path, step S40 is executed.
In the process of executing step S30, the preset level condition may specifically be that "the rear-end collision risk level is higher than three levels" or that "the rear-end collision risk level is one level", etc., and may be set according to actual needs.
In addition, different acquisition modes can be adopted to acquire the backward rear-end collision prevention activation signal in combination with the state of the automatic driving mode:
if the automatic driving mode is in a closed state, alarm information used for representing the rear-end collision grade is generated, such as a three-level green light, a two-level yellow light and a one-level red light, and a rear-end collision prevention activation signal input by the user based on the alarm information is acquired.
And if the automatic driving mode is in an opening state, automatically generating a backward rear-end collision prevention activation signal under the condition that the backward rear-end collision danger level meets the preset level condition.
Further, in the process of determining whether a front buffable path exists according to the information of the front obstacle, the vehicle may be pre-planned with a travelable path by using the relative longitudinal speed, the relative lateral speed, the relative longitudinal distance, the relative lateral distance, and the like of the front obstacle, and if the travelable path is planned, it indicates that the front buffable path exists, otherwise, it does not exist. And the planning of the travelable path can be realized by adopting the existing software or algorithm.
It should be noted that, in the case that the rear-end collision danger level does not satisfy the preset level condition or the rear-end collision avoidance activation signal is not acquired, no operation is performed.
S40, judging whether the vehicle state information meets the preset forward motion condition; if the vehicle state information satisfies the preset forward movement condition, step S50 is executed.
In the process of executing step S40, the acquired vehicle state information may be from a DOC active suspension system, an ESP braking system, an EMS engine system, a TCU transmission system, an EPB electronic parking system, an SDM in-vehicle safety system, an HMI human machine interaction system, a GW gateway system, a WSS wheel speed sensor system, and an EPS electronic power steering system, among others.
The preset forward movement condition may be specifically set for a power-on state, a gear state, a safety belt state, a car door state, a wheel speed state, a node system fault state of each relevant controller, and the like of the whole car, and this embodiment does not limit this.
And S50, executing the preset active protection operation.
In performing step S50, the preset active protection operation may be any one or more of an acceleration damping operation and a steering lane change operation. Wherein, the operation of buffering with higher speed can slow down the rear truck collision risk, and turn to the lane change operation and can carry out certain turning to and lane change to the circumstances of not having the vehicle by the side car to the supplementary rear truck collision risk that slows down.
In other embodiments, in order to reduce the injury to the passengers as much as possible when the vehicle is inevitably collided, the following steps are included on the basis of the backward rear-end collision prevention control method shown in fig. 1, and a method flowchart of the backward rear-end collision prevention control method is shown in fig. 3:
and S60, if the front bufferable path does not exist or the vehicle state information does not meet the preset forward movement condition, executing the preset passive protection operation.
In performing step S60, the preset passive protection operation may be any one or more of a seatbelt pretensioning operation, an active suspension adjustment operation, an EPB parking operation, and an ESP pre-pressure buildup operation. Wherein,
the pre-tightening operation of the safety belt can reduce the injury to passengers after collision; the active suspension adjustment operation can reduce the center of mass of the whole vehicle and reduce the rollover risk of the vehicle caused by collision by adjusting the different rigidity damping of the four wheels; the EPB parking operation or the ESP pre-pressurizing operation may increase the friction force of the vehicle with the ground at the time of vehicle collision, thereby reducing the movement of the vehicle under an external force, thereby reducing the injury to the neck of the driver.
The backward rear-end collision prevention control method provided by the embodiment of the invention can detect the surrounding environment information of the vehicle; since most of the vehicles are automobiles during road driving, the probability of rear-end collision is much higher compared with that of non-motor vehicles or pedestrians, the rear-end collision danger level of the rear obstacle can be further determined when the rear obstacle is determined to be at risk, and therefore the preset active protection operation is executed when the rear-end collision level and the rear-end collision activation signal meet the conditions and the forward movement condition exists. The method disclosed by the invention can actively avoid the potential dangerous target behind the vehicle, thereby reducing the risk of rear-end collision of the vehicle.
Based on the backward rear-end collision prevention control method provided by the above embodiment, an embodiment of the present invention correspondingly provides an apparatus for executing the above backward rear-end collision prevention control method, and a schematic structural diagram of the apparatus is shown in fig. 4, and the apparatus includes:
the information acquisition module 10 is used for acquiring peripheral environment information of the vehicle, wherein the peripheral environment information at least comprises information of a front obstacle and information of a rear obstacle;
the grade calculation module 20 is used for calculating the rear-end collision danger grade according to the information of the rear obstacle if the rear obstacle is a preset risk obstacle;
the first judging module 30 is configured to judge whether a front bufferable path exists according to information of a front obstacle when the rear-end collision danger level meets a preset level condition and a rear-end collision prevention activation signal is acquired; if a front buffering path exists, triggering a second judgment module 40;
the second judgment module 40 is used for judging whether the vehicle state information meets the preset forward movement condition or not; if the vehicle state information meets the preset forward motion condition, triggering the active protection module 50;
and the active protection module 50 is configured to perform a preset active protection operation.
Optionally, the grade calculating module 20 is specifically configured to:
acquiring the relative speed between the rear obstacle and the vehicle, the relative distance between the rear obstacle and the vehicle and the running speed of the rear obstacle from the information of the rear obstacle; calculating a basic collision avoidance distance according to the relative speed and the driving speed of the rear obstacle; acquiring a preset collision threshold value and a relative compensation distance corresponding to the driving speed of a rear obstacle, and calculating a safety distance threshold value under the preset collision threshold value by using the relative compensation distance and a basic collision avoidance distance; a rear-end collision risk level is determined based on the relative distance and a safe distance threshold.
Optionally, the preset active protection operation includes:
accelerating any one or more of the buffering operation and the steering lane-change operation.
The backward rear-end collision prevention control device provided by the embodiment of the invention can actively avoid potential dangerous targets behind the vehicle, thereby reducing the risk of rear-end collision of the vehicle.
The method and the device for controlling backward rear-end collision prevention provided by the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include or include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A backward rear-end collision prevention control method is characterized by comprising the following steps:
acquiring peripheral environment information of a vehicle, wherein the peripheral environment information at least comprises information of a front obstacle and information of a rear obstacle;
if the rear obstacle is a preset risk obstacle, calculating a rear-end collision danger level according to the information of the rear obstacle;
judging whether a front buffering path exists according to the information of the front obstacle under the condition that the rear collision danger level meets a preset level condition and a rear collision prevention activation signal is obtained;
if the front buffering path exists, judging whether the vehicle state information meets a preset forward movement condition;
if the vehicle state information meets the preset forward movement condition, executing a preset active protection operation;
wherein, the calculating the rear-end collision danger level according to the information of the rear obstacle comprises:
acquiring the relative speed of the rear obstacle and the vehicle, the relative distance of the rear obstacle and the vehicle and the running speed of the rear obstacle from the information of the rear obstacle;
calculating a basic collision avoidance distance according to the relative speed and the driving speed of the rear obstacle;
acquiring a preset collision threshold value and a relative compensation distance corresponding to the driving speed of the rear obstacle, and calculating a safety distance threshold value under the preset collision threshold value by using the relative compensation distance and the basic collision avoidance distance;
determining a rear-end collision risk level based on the relative distance and the safe distance threshold.
2. The method of claim 1, wherein obtaining the backward anti-tailgating activation signal comprises:
generating alarm information for representing the rear-end collision grade, and acquiring a rear-end collision prevention activation signal input by a user based on the alarm information; or
And under the condition that the rear-end collision danger level meets a preset level condition, automatically generating a rear-end collision prevention activation signal.
3. The method of claim 1, wherein the pre-set active protection operation comprises:
accelerating any one or more of the buffering operation and the steering lane-change operation.
4. The method of claim 1, further comprising:
and if the rear barrier is a preset risk-free barrier, generating prompt information for representing no rear-end collision risk.
5. The method of claim 1, further comprising:
and if the front buffering path does not exist or the vehicle state information does not meet the preset forward movement condition, executing preset passive protection operation.
6. The method of claim 5, wherein the default passive protection operation comprises:
any one or more of a seat belt pretensioning operation, an active suspension adjustment operation, an electronic park system EPB park operation, and a brake system ESP pre-pressurization operation.
7. A backward rear-end collision prevention control device is characterized by comprising:
the information acquisition module is used for acquiring peripheral environment information of the vehicle, wherein the peripheral environment information at least comprises information of a front obstacle and information of a rear obstacle;
the grade calculation module is used for calculating the rear-end collision danger grade according to the information of the rear obstacle if the rear obstacle is a preset risk obstacle;
the first judgment module is used for judging whether a front buffering path exists according to the information of the front obstacle under the condition that the rear-end collision danger level meets a preset level condition and a rear-end collision prevention activation signal is obtained; if the front buffering path exists, a second judgment module is triggered;
the second judgment module is used for judging whether the vehicle state information meets a preset forward motion condition or not; if the vehicle state information meets the preset forward motion condition, triggering an active protection module;
the active protection module is used for executing preset active protection operation;
the grade calculation module is specifically configured to:
acquiring the relative speed of the rear obstacle and the vehicle, the relative distance of the rear obstacle and the vehicle and the running speed of the rear obstacle from the information of the rear obstacle; calculating a basic collision avoidance distance according to the relative speed and the driving speed of the rear obstacle; acquiring a preset collision threshold value and a relative compensation distance corresponding to the driving speed of the rear obstacle, and calculating a safety distance threshold value under the preset collision threshold value by using the relative compensation distance and the basic collision avoidance distance; determining a rear-end collision risk level based on the relative distance and the safe distance threshold.
8. The apparatus of claim 7, wherein the preset active protection operation comprises:
accelerating any one or more of the buffering operation and the steering lane-change operation.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660082A (en) * | 2020-12-28 | 2021-04-16 | 东风汽车集团有限公司 | Vehicle emergency braking pre-pressure building method and related equipment |
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| CN115027460A (en) * | 2022-06-17 | 2022-09-09 | 重庆长安汽车股份有限公司 | Automatic emergency braking control method and system for curve and readable storage medium |
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