Braking control method
A method controls autonomous emergency braking of an ego motor vehicle by initializing a braking reserve level and a time counter to a predetermined value, activating autonomous emergency braking, consuming a braking reserve and decrementing the braking reserve level for as long as the autonomous emergency braking is active, deactivating the autonomous emergency braking as soon as a braking request is interrupted or the braking reserve level reaches zero, incrementing a time counter as soon as autonomous emergency braking is deactivated and as long as no new autonomous emergency braking is activated, resetting the time counter to the predetermined time value as soon as a predetermined time threshold is reached by the time counter or as soon as new autonomous emergency braking is activated before said time threshold is reached, and resetting the braking reserve to the predetermined value as soon as the time counter exceeds the time threshold.
1 . A method for controlling autonomous emergency braking of an ego motor vehicle, comprising:
initializing a braking reserve level to a predetermined value;
initializing a time counter to a predetermined time value;
receiving a request for autonomous emergency braking;
activating autonomous emergency braking;
consuming a braking reserve and decrementing the braking reserve level for as long as said autonomous emergency braking is active;
deactivating the autonomous emergency braking in response to the braking reserve level reaching zero;
incrementing the time counter as soon as autonomous emergency braking is deactivated and as long as no new autonomous emergency braking is activated;
resetting said time counter to the predetermined time value as soon as a predetermined time threshold is reached by the time counter or as soon as new autonomous emergency braking is activated before said time threshold is reached; and
resetting the braking reserve to the predetermined value as soon as the time counter exceeds the time threshold, the autonomous emergency braking remaining deactivated from the deactivating until the resetting the braking reserve,
wherein the braking reserve level is set prior to the receiving the request for autonomous emergency braking.
2 . The method for controlling autonomous emergency braking of an ego motor vehicle as claimed in claim 1 , wherein the predetermined time value of the time counter is zero.
3 . The method for controlling autonomous emergency braking of an ego motor vehicle as claimed in claim 1 , wherein the predetermined value of the braking reserve is expressed in the form of a speed, of a distance, or of a time.
4 . The method for controlling autonomous emergency braking of an ego motor vehicle as claimed in claim 1 , wherein the predetermined value of the braking reserve is dependent on a driving situation.
5 . The method for controlling autonomous emergency braking of an ego motor vehicle as claimed in claim 1 , wherein the predetermined value of the braking reserve is dependent on whether a driving situation is urban or extra-urban.
6 . The method for controlling autonomous emergency braking of an ego motor vehicle as claimed in claim 1 , further comprising determining a variable representative of dynamics of the ego vehicle, the variable representative of the dynamics of the ego vehicle being a norm of a velocity vector of the ego vehicle.
7 . The method for controlling autonomous emergency braking of an ego motor vehicle as claimed in claim 6 , wherein the decrementation of the level of the braking reserve between a current time interval (t) and a previous time interval (t−1) is computed by subtracting, from the level of the reserve (Reserve), the difference between the norm (∥Vego∥) of the ego velocity vector in the previous time interval (t−1) and the norm (∥Vego∥) of the ego velocity vector in the current time interval (t), according to the equation
Reserve( t )=Reserve( t− 1)−(∥Vego( t− 1)∥−∥Vego( t )∥)
provided that said difference (∥Vego(t−1)∥−∥Vego(t)∥) is positive.
8 . The method for controlling autonomous emergency braking of an ego motor vehicle as claimed in claim 1 , wherein said time threshold is between two and five seconds.
9 . The method for controlling autonomous emergency braking of an ego motor vehicle as claimed in claim 1 , wherein said time threshold is four seconds.
10 . The method for controlling autonomous emergency braking of an ego motor vehicle as claimed in claim 1 , further comprising detecting a following vehicle behind the ego vehicle.
11 . The method for controlling autonomous emergency braking of an ego motor vehicle as claimed in claim 1 , wherein said time threshold is dependent on detection of a following vehicle.
12 . The method for controlling autonomous emergency braking of an ego motor vehicle as claimed in claim 1 , wherein the predetermined value of the braking reserve level is dependent on detection of a following vehicle.
13 . A non-transitory computer readable medium storing a program that, when executed by a computer, causes the computer to execute the method for controlling autonomous emergency braking of the ego motor vehicle as claimed in claim 1 .