一种基于驾驶辅助地图的重型商用车AEB制动决策方法、车辆 及介质

The invention provides an AEB braking decision method, a vehicle and a medium for a heavy commercial vehicle based on a driving auxiliary map, which belong to the technical field of intelligent driving of commercial vehicles, and are used for acquiring the vehicle speed, analyzing gradient/curvature values, calculating a safety distance, detecting collision risks, correcting a braking force request according to the gradient direction, determining a self-adaptive distribution coefficient based on the curvature values, integrating the braking force request and the distribution coefficient, outputting a braking force control signal and executing braking. According to the invention, through a gradient compensation model and a curvature self-adaptive strategy, downhill reinforcement, uphill force reduction and wheel load balance at the inner side and the outer side of a curve are realized, the problem of braking failure of the traditional AEB under complex road conditions is solved, and by combining with safe distance dynamic verification and braking force threshold constraint, the braking decision is ensured to meet the physical limit, the braking safety and the robustness are improved, and the multi-station requirements of heavy commercial vehicles are met.