CN111497843A - Driving assistance system, brake control unit and brake control method thereof - Google Patents

Abstract

The invention provides a driving assistance system, a brake control unit and a brake control method thereof. The brake control unit (130) according to the invention comprises: an acquisition module (131) configured to acquire a driving state of a preceding vehicle and a host vehicle during climbing, wherein at least the speed of the preceding vehicle and the host vehicle and the distance between the preceding vehicle and the host vehicle are included; a processing module (132) configured to determine whether the driving assistance system (100) of the host vehicle needs to brake the host vehicle based on the acquired running state, acquire a target deceleration of the host vehicle and calculate a first term of braking force according to the target deceleration when it is determined that the braking of the host vehicle is needed, and calculate a second term of braking force according to a gradient value of a road where the host vehicle is located; a braking force determination module (133) configured to determine a target braking force required by the driving assistance system (100) to apply braking to the host vehicle, based on the first and second braking forces.

Description

Driving assistance system, brake control unit and brake control method thereof

technical field

The present application relates to the technical field of assisted driving, and in particular, to a driving assistance system, a brake control unit and a brake control method thereof.

Background technique

The driving assistance system uses various sensors installed on the car to sense the surrounding environment at any time during the driving process of the car, collect data, and perform systematic calculation and analysis, thereby effectively increasing the comfort and safety of car driving.

Adaptive cruise control (ACC) is an intelligent automatic control system in driver assistance systems. According to the technical solution using ACC, the distance sensor (radar) installed at the front of the vehicle continuously scans the road in front of the vehicle while the vehicle is running, while the wheel speed sensor obtains the vehicle speed signal, and the control unit of the ACC system uses the signal detected by the radar to detect Control the braking process of the vehicle. However, the existing ACC usually has the problem of poor noise, vibration and harshness (NVH) performance when controlling vehicle braking. In addition, when the existing ACC controls the braking of the vehicle, it usually does not recognize whether the road where the vehicle is located is a flat road or a sloped road, so that when the vehicle is climbing and stopping, it cannot provide suitable braking control for the vehicle. .

Therefore, it is desirable to provide a technical solution for improved braking control for vehicles that need to be braked during hill climbing.

SUMMARY OF THE INVENTION

In view of the above problems in the prior art, the present application provides a driving assistance system and a technical solution for braking control thereof, which can provide suitable braking control for a vehicle that needs to be braked during a hill climb, thereby improving the Safety and comfort during braking.

To this end, according to an aspect of the present application, there is provided a brake control unit used in a driving assistance system, which includes: an acquisition module configured to acquire the driving states of the preceding vehicle and the host vehicle during hill climbing, wherein at least Including the speed of the vehicle in front and the vehicle and the distance between the vehicle in front and the vehicle; the processing module is configured to determine whether the driving assistance system of the vehicle needs to brake the vehicle based on the obtained driving state. When the vehicle brakes, obtain the target deceleration of the vehicle and calculate the first item of the braking force according to the target deceleration, and calculate the second item of the braking force according to the gradient value of the road where the vehicle is located; and a braking force determination module, configured The target braking force required by the driving assistance system to brake the vehicle is determined according to the first term of the braking force and the second term of the braking force.

It can be seen that, according to the technical solution of the present application, when determining the braking force for the vehicle that needs to stop during the climbing process, the influence of the road gradient on the braking is considered, so that a suitable target braking force can be provided for the braking process.

According to the above technical idea, the present application may further include any one or more of the following optional forms.

According to a feasible implementation manner of the present application, the obtaining module further obtains the driving force provided to the vehicle by the powertrain of the vehicle during the braking of the vehicle by the driving assistance system; the processing module is further configured to The driving force calculates a third item of braking force; the braking force determination module determines the target braking force according to the first item of braking force, the second item of braking force and the third item of braking force.

When determining the braking force for the vehicle that stops during the uphill process, in addition to the influence of the road gradient on the braking, the influence of the driving force is also considered, so that a more suitable target braking force can be provided for the braking process. The movement process is softer and the user experience is improved.

According to a feasible implementation manner of the present application, the processing module obtains the gradient value in the following manner: measured by the gradient sensor of the vehicle and provided to the processing module; or the processing module is based on the longitudinal acceleration sensor of the vehicle The gradient value is calculated from the measured value of , and the current deceleration of the vehicle.

According to a feasible implementation manner of the present application, calculating the second term of the braking force includes: determining the second term of the braking force in a comparison table including a corresponding relationship between the gradient value and the braking force correction value.

According to a feasible implementation manner of the present application, acquiring the target deceleration of the vehicle includes: the processing module calculates the target deceleration based on the speed of the preceding vehicle and the vehicle and the distance between the preceding vehicle and the vehicle; or the processing module calculates the target deceleration Data processing is performed on the target deceleration provided by the radar device of the driving assistance system, and the processed target deceleration is used as the target deceleration.

According to a feasible implementation manner of the present application, the processing module judging whether the driving assistance system of the vehicle needs to perform braking on the vehicle includes: determining based on the speed of the vehicle in front and the vehicle and the distance between the vehicle in front and the vehicle Calculate the target braking time of the vehicle when the vehicle needs to be stopped; compare the target braking time with the braking time threshold specified by the driving assistance system; when the target braking time meets the braking time threshold , generating a first instruction indicating compliance with the time threshold.

According to a feasible implementation manner of the present application, the obtaining module obtains the current braking force applied by the driving assistance system to the vehicle in response to the first instruction; the processing module compares the current braking force with the target braking force, And when it is determined that the current braking force is smaller than the target braking force, a second command instructing to increase the current braking force is generated.

According to a feasible implementation manner of the present application, the braking control unit further includes a braking force control module configured to control the current braking force to start increasing in response to the first command and the second command until the target braking force is reached until.

According to a feasible implementation manner of the present application, the braking force control module is further configured to: set an execution time for increasing the braking force; determine the gradient of increasing the braking force according to the execution time and the target braking force; control the current braking force Power is increased to the target braking force at the gradient.

It can be seen that, according to this embodiment, the gradient of increasing the braking force is adjusted by adjusting the execution time. That is to say, by adjusting the execution time, the braking process of the vehicle can be made faster or slower. For example, the execution time can be adjusted within an appropriate range according to the user's feelings or needs, so that the entire braking process is more humanized and further improved. user experience.

The present application provides, in another aspect thereof, a braking control method for use in a driving assistance system, optionally implemented by means of the above-mentioned braking control unit, the braking control method comprising: during a hill-climbing of the host vehicle Obtain the driving status of the vehicle in front and the vehicle, including at least the speed of the vehicle in front and the vehicle and the distance between the vehicle in front and the vehicle; based on the obtained driving status, determine whether the driving assistance system of the vehicle needs to implement control on the vehicle. When it is determined that the vehicle needs to be braked, the target deceleration of the vehicle is obtained, the first item of braking force is calculated according to the target deceleration, and the second item of braking force is calculated according to the gradient value of the road where the vehicle is located; and determining the target braking force required by the driving assistance system to brake the vehicle according to the first term of braking force and the second term of braking force.

In yet another aspect of the present application, there is provided a driving assistance system, especially an adaptive cruise control system, comprising: a radar device, which measures the distance between the preceding vehicle and the own vehicle; and a stability device, which is connected with the radar device coupled to and comprising a brake control unit as described above, optionally the stabilization device is configured to generate a trigger signal to activate the brake control unit in response to a deceleration request signal from the radar device.

According to the technical solution of the present application, when determining an appropriate braking force for a vehicle that needs to be braked during the climbing process, for example, in the process of determining the target braking force, the influence of the road gradient on braking can be considered, optionally , the influence of the driving force on the braking is also considered, and further optionally, the gradient of increasing the braking force can be adjusted within an appropriate range, thereby providing a braking control scheme with better safety and comfort.

Description of drawings

The features, characteristics, advantages and benefits of the present invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings.

FIG. 1 illustrates a schematic block diagram of a driving assistance system according to a possible embodiment of the present application.

FIG. 2 illustrates a schematic block diagram of a brake control unit of the driving assistance system of FIG. 1 .

FIG. 3 illustrates a flowchart of a braking control method for a driving assistance system according to a possible embodiment of the present application.

Detailed ways

Hereinafter, various embodiments of the present application will be described in detail with reference to the accompanying drawings.

The present application generally relates to a driving assistance technology for providing braking control for a vehicle that requires braking during a hill climb.

FIG. 1 schematically shows a driving assistance system 100 according to a possible embodiment of the present application. The driving assistance system 100 is provided on the vehicle and includes a radar device 110 and a stabilization device 120 . The driving assistance system 100 may be configured as an adaptive cruise control system.

In this embodiment, the radar device 110 is used to detect the driving state of the preceding vehicle and the own vehicle, for example, the distance between the preceding vehicle and the own vehicle. The radar device 110 can also detect information such as the relative orientation between the preceding vehicle and the own vehicle.

In this embodiment, the stabilization device 120 (eg, ESP) exchanges signals with the radar device 110 via a bus system. For example, the stabilization device 120 receives its detected distance signal from the radar device 110 . The stability device 120 includes a braking control unit 130, which is used to determine whether the vehicle needs to be braked during the climbing process of the vehicle. The braking control unit 130 is further configured to calculate the target braking force when it is determined that the braking needs to be implemented. Optionally, the brake control unit 130 may also be used to determine a gradient of increased braking force.

In this embodiment, the stabilization device 120 and the radar device 110 communicate via the in-vehicle network and a bus system (eg, CAN bus), that is, the communication between the stabilization device 120 and the radar device 110 is performed at a period specified by the communication protocol. Transmission signal. For example, a signal such as the distance detected by the radar device 110 is transmitted to the stabilization device 120 in a communication period (eg, 20 ms).

According to a specific embodiment, the radar device 110 may include a radar sensor (not shown) and an electronic control unit (not shown) coupled to the radar sensor. The radar sensor is used to detect the distance information between the preceding vehicle and the own vehicle. The electronic control unit receives the vehicle speed signal from the stabilization device 120, and calculates the speed of the preceding vehicle based on the speed signal and the detected distance between the preceding vehicle and the own vehicle. In some embodiments, the electronic control unit may determine that the vehicle needs to stop based on the speed of the vehicle in front and the vehicle and the distance between the vehicle in front and the vehicle, generate a stationary request signal for requesting the vehicle to be stationary, and use the The stillness request signal is sent to the stabilization device 120 .

In some embodiments, the electronic control unit may determine the target deceleration for the vehicle to decelerate from the current speed to zero according to the speed of the preceding vehicle and the vehicle and the distance between the preceding vehicle and the vehicle, and decelerate the determined target The deceleration is provided to the stabilization device 120 . The stabilization device 120 performs data processing (eg, smoothing filtering, etc.) on the received target deceleration, and uses the processed target deceleration to calculate a target braking force.

In some embodiments, the brake control unit 130 of the stabilization device 120 is always in a standby state after the stabilization device 120 is turned on, and can be selectively activated. For example, the stabilization device 120 generates a trigger signal to activate the brake control unit 130 in response to a deceleration demand signal from the radar device 110 .

FIG. 2 shows a schematic block diagram of the brake control unit 130 in FIG. 1 . The following describes the brake control unit 130 and its operation process in detail.

Referring to FIG. 2 , the braking control unit 130 mainly includes an acquisition module 131 , a processing module 132 and a braking force determination module 133 . The obtaining module 131 is used for obtaining the driving state of the preceding vehicle and the own vehicle during the climbing period of the own vehicle, which at least includes the speed of the preceding vehicle and the own vehicle and the distance between the preceding vehicle and the own vehicle. The processing module 132 determines whether the driving assistance system 100 of the vehicle needs to brake the vehicle based on the obtained driving state, and when it is determined that the vehicle needs to be braked, the target deceleration of the vehicle is obtained and calculated according to the target deceleration. Braking power first F1. The processing module 132 also calculates the second term F2 of the braking force according to the gradient value of the road where the vehicle is located. The braking force determination module 133 is configured to determine the target braking force required by the driving assistance system 100 to brake the host vehicle according to the first term of braking force F1 and the second term of braking force F2. For example, the target braking force can be F1-F2, or a function related to F1 and F2. It should be noted that the sign of F2 is opposite to that of F1.

It can be seen that, according to the embodiments of the present application, when determining the braking force for the vehicle that needs to be stopped during the climbing process, the influence of the road gradient on the braking is considered, for example, the target braking force is corrected based on the gradient resistance and the rolling resistance , so that a suitable target braking force can be provided for the braking process.

The processing module 132 may calculate the first term F1 of the braking force according to the formula F=ma, where F is the first term F1 of the braking force, m is the weight of the vehicle and its contents, and a is the target deceleration. In some embodiments, the processing module 132 calculates the target deceleration according to the data information received from the radar device 110 and the measurement value of the speed sensor of the driving assistance system 100, and uses the target deceleration to calculate the first term F1 of the braking force. In other embodiments, as described above, the radar device 110 determines the target deceleration based on the driving state of the preceding vehicle and the host vehicle and provides the target deceleration to the processing module 132 . The processing module 132 performs data processing (eg, filtering) on the received target deceleration and uses the processed target deceleration to calculate a braking force first term F1.

The processing module 132 may determine the braking force second term F2 from a look-up table that includes a correspondence between the gradient value and the braking force correction value. For example, in the comparison surface, each gradient value range corresponds to a different second term F2 of the braking force, respectively. In the correspondence of this look-up table, two force factors related to the gradient value, namely gravity and rolling resistance, are considered for vehicle braking. The look-up table is, for example, pre-made and stored in a memory (not shown) of the driver assistance system.

In some embodiments, the host vehicle has a gradient sensor for measuring the current road gradient value and providing the measured gradient value to the processing module 132 . In other embodiments, the host vehicle may not have a gradient sensor, instead, the host vehicle has a longitudinal acceleration sensor and an acceleration sensor for measuring the current deceleration of the host vehicle. The processing module 132 calculates the gradient value of the current road according to the measurement value of the longitudinal acceleration sensor and the current deceleration of the vehicle.

In some cases, the vehicle's powertrain provides propulsion for the vehicle during a hill climb. In the embodiment in this case, the obtaining module 131 also obtains the driving force provided to the vehicle by the powertrain of the vehicle during the braking of the vehicle by the driving assistance system 100 . The processing module 132 calculates the third term F3 of the braking force according to the driving force. The braking force determination module 133 determines the target braking force according to the first term of braking force F1, the second term of braking force F2, and the third term of braking force F3. For example, the target braking force can be F1-F2+F3, or a function related to F1, F2, and F3. In this embodiment, when the gradient is relatively large, the influence of gravity is relatively large, and the driving force may not be enough to offset the gravity, and the braking force is mainly used to offset the component of the gravity along the direction parallel to the slope. In the case of a small gradient, the influence of gravity is small, and the component of gravity in the direction parallel to the slope is not enough to offset the driving force, and the braking force is required to counteract the driving force.

It can be seen that, according to the embodiments of the present application, when determining the braking force for the vehicle that brakes during the uphill process, in addition to the influence of the road gradient on the braking, the influence of the driving force is also considered, so that the braking force can be determined for the braking force. The braking process provides a more suitable target braking force, the braking process is softer, and the user experience is improved.

The following describes the process by which the processing module 132 determines whether the driving assistance system 100 needs to perform braking on the vehicle.

First, the processing module 132 determines whether the target braking time meets the braking time threshold. The braking time threshold value is the braking time threshold value specified by the driving assistance system 100 for the vehicle. In some embodiments, the driving assistance system 100 may set a braking time threshold for the vehicle according to the gradient value of the road where the vehicle is located. For example, the braking time threshold is set to increase as the gradient value increases. That is, when the gradient value is large, it is necessary to apply braking earlier.

The calculation of the target braking time by the processing module 132 includes feedback calculation and feedforward calculation. When the vehicle speed is relatively high, for example, greater than or equal to a predetermined speed threshold, the processing module 132 uses feedback calculation to calculate the target braking time, that is, according to the current vehicle speed (eg, measured by the vehicle speed sensor) and the current deceleration ( For example, measured by an acceleration sensor) to calculate the target braking time. That is, when the vehicle speed is greater than or equal to the predetermined threshold, the processing module 132 calculates the target braking time according to the formula t=v/a. When the vehicle speed is reduced to less than the predetermined speed threshold, the calculation according to this formula is inaccurate, and the feedforward calculation method is more accurate, that is, the target braking time is calculated in a periodic decreasing manner, and the period refers to the above-mentioned communication period. That is, when the vehicle speed is less than a predetermined speed threshold, the target braking time is determined by decrementing a period of time every communication cycle.

The processing module 132 has been calculating the target braking time in the above-mentioned manner, until the calculated target braking time is reduced to the braking time threshold, the processing module 132 determines that the target braking time meets the braking time threshold, and generates an indication that the time meets the braking time. Threshold for the first instruction. The obtaining module 131 obtains the current braking force of the vehicle in response to the first instruction. That is to say, when the calculated target braking force decreases to the braking time threshold, the obtaining module 131 obtains the current braking force at this moment. The processing module 132 compares the current braking force with the calculated target braking force, and when it is determined that the current braking force is greater than or equal to the target braking force, the processing module 132 determines that the braking control unit 130 does not perform braking control. When the processing module 132 determines that the current braking force is less than the target braking force, a second instruction instructing to increase the current braking force is generated.

In order to control the braking force increase process from the current braking force to reaching the target braking force, the braking control unit 130 further includes a braking force control module 134 . The braking force control module 134 controls the vehicle braking system to start increasing the current braking force in response to the first command and the second command until the target braking force is reached.

In one embodiment, the braking force control module 134 also sets the execution time, ie, the execution time from when the braking force is increased until the target braking force is reached. The braking force control module 134 determines the gradient of the increased braking force based on the desired increased braking force and the execution time, and controls the braking system to increase the braking force by the gradient.

It can be seen that, according to this embodiment, the gradient of increasing the braking force can be adjusted by adjusting the execution time. That is to say, the braking process of the vehicle can be made faster or slower by adjusting the execution time. For example, the execution time can be adjusted within an appropriate range according to the user's feelings or needs, so as to make the entire braking process more user-friendly and further improve the user experience.

It should be understood that, in some embodiments, during the entire braking process, although there are dynamic changing factors, such as real-time sensing values of various sensors (eg, radar sensors, speed sensors, acceleration sensors, etc.) may change, the road gradient may also change. It may change, but the target braking force is subject to the moment when the calculated target braking time meets the braking time threshold, and will not change during the subsequent braking process (that is, the target braking force is "frozen" after no longer changes). In other embodiments, during the entire braking process, the target braking force is continuously calculated and updated according to the real-time measurement values of each sensor, that is, the entire braking process is detected and controlled in real time in real time.

It should be understood that when the vehicle is parked on a ramp, the braking force is mainly used to make the vehicle stop on the ramp without rolling away, that is, the braking force is used to offset the component of gravity along the parallel direction of the ramp. Depending on the strategy of various vehicle control systems, when the vehicle is completely stationary, the powertrain can immediately withdraw the driving force, or after the vehicle has been stationary for a period of time, the driving force can be withdrawn, and the driving force can also be retained without canceling the driving force.

FIG. 3 shows a braking control method 300 for the driving assistance system 100 according to a possible embodiment of the present invention. Optionally, the braking control method 300 is implemented by the braking control unit 130 described above. However, it should be pointed out that the principles of the present application are not limited to a specific type and structure of control units. As shown in FIG. 3 , in step 310 , the driving states of the preceding vehicle and the own vehicle are acquired during the climbing period of the own vehicle. In step 320, it is determined whether the driving assistance system 100 of the own vehicle needs to brake the own vehicle based on the obtained driving state, and when it is determined that the vehicle needs to be braked, the target deceleration of the own vehicle is obtained, and the target deceleration is reduced according to the target deceleration. The first term F1 of the braking force is calculated from the speed, and the second term F2 of the braking force is calculated according to the gradient value of the road where the vehicle is located. In step 330, the target braking force required by the driving assistance system 100 to brake the own vehicle is determined according to the first term of braking force F1 and the second term of braking force F2.

It should be understood that the operation of the brake control unit 130 is equally applicable to the brake control method 300 . Accordingly, the various relevant features described above with respect to the brake control unit 130 also apply to this brake control method 300 .

Embodiments in accordance with the present invention also provide a machine-readable storage medium having executable instructions stored thereon, wherein the executable instructions, when executed, cause the method 300 to be performed.

While some embodiments have been described above, these embodiments have been presented by way of example only, and are not intended to limit the scope of the inventions. The appended claims and their equivalents are intended to cover all modifications, substitutions and changes made within the scope and spirit of the invention.

Claims (11)

1. A brake control unit (130) for use in a driving assistance system (100), comprising:

an acquisition module (131) configured to acquire a driving state of a preceding vehicle and a host vehicle during climbing, wherein at least the speed of the preceding vehicle and the host vehicle and the distance between the preceding vehicle and the host vehicle are included;

a processing module (132) configured to determine whether the driving assistance system (100) of the host vehicle needs to brake the host vehicle based on the acquired running state, acquire a target deceleration of the host vehicle and calculate a first term of braking force according to the target deceleration when it is determined that the braking of the host vehicle is needed, and calculate a second term of braking force according to a gradient value of a road where the host vehicle is located; and

a braking force determination module (133) configured to determine a target braking force required by the driving assistance system (100) to apply braking to the host vehicle, based on the first and second braking forces.

2. The brake control unit (130) of claim 1,

the acquisition module (131) further acquires a driving force provided to the host vehicle by a powertrain of the host vehicle during braking of the host vehicle by the driving assistance system (100);

the processing module (132) is further configured to calculate a third term of braking force from the driving force;

the braking force determination module (133) determines the target braking force based on the first, second, and third terms of braking force.

3. The brake control unit (130) according to claim 1 or 2, wherein the processing module (132) obtains the gradient value by:

measured by a host vehicle's grade sensor and provided to the processing module (132); or

The processing module (132) calculates the grade value from a measurement from a longitudinal acceleration sensor of the host vehicle and a current deceleration of the host vehicle.

4. The brake control device (130) according to any one of claims 1-3, wherein calculating the second term of braking force includes:

the second term of the braking force is determined in a look-up table containing the correspondence between the gradient value and the braking force correction value.

5. The brake control unit (130) according to any one of claims 1-4, wherein obtaining the target deceleration of the host vehicle includes:

a processing module (132) calculates the target deceleration based on the speed of the preceding vehicle and the own vehicle and the distance between the preceding vehicle and the own vehicle; or

A processing module (132) performs data processing on a target deceleration provided by a radar device of the driving assistance system (100), and takes the processed target deceleration as the target deceleration.

6. The brake control unit (130) of any of claims 1-5, wherein the processing module (132) determining whether the driving assistance system (100) of the host vehicle requires braking of the host vehicle comprises:

when the fact that the vehicle needs to be braked and stopped is determined based on the speed of the front vehicle and the speed of the vehicle and the distance between the front vehicle and the vehicle, calculating the target braking time of the vehicle;

comparing a target braking time with a braking time threshold value prescribed by the driving assistance system (100);

when the target brake time meets the brake time threshold, a first command is generated indicating that a time threshold is met.

7. The brake control unit (130) of claim 6,

the acquisition module (131) acquires a current braking force applied to the host vehicle by the driving assistance system (100) in response to the first instruction;

the processing module (132) compares the current braking force to a target braking force and generates a second command instructing to increase the current braking force when it is determined that the current braking force is less than the target braking force.

8. The brake control unit (130) of claim 7,

the brake control unit (130) further includes a braking force control module (134) configured to control a current braking force to start increasing in response to the first and second instructions until a target braking force is reached.

9. The brake control apparatus (130) of claim 8, wherein the braking force control module (134) is further configured to:

setting an execution time for increasing the braking force;

determining a gradient of the increased braking force according to the execution time and the target braking force;

the current braking force is controlled to increase to the target braking force at the gradient.

10. A brake control method for use in a driving assistance system, optionally implemented by means of a brake control unit according to any one of claims 1-9, the brake control method comprising:

acquiring the driving states of a front vehicle and a host vehicle during the climbing of the host vehicle, wherein the driving states at least comprise the speeds of the front vehicle and the host vehicle and the distance between the front vehicle and the host vehicle;

determining whether the driving assistance system (100) of the host vehicle needs to brake the host vehicle based on the acquired running state, and when determining that the braking of the host vehicle is needed, acquiring a target deceleration of the host vehicle, calculating a first item of braking force according to the target deceleration, and calculating a second item of braking force according to a gradient value of a road where the host vehicle is located; and

determining a target braking force required by the driving assistance system (100) to brake the host vehicle according to the first braking force term and the second braking force term.

11. A driving assistance system (100), in particular an adaptive cruise control system, comprising:

a radar device (110) that measures the distance between the preceding vehicle and the own vehicle; and

a stability device (120) coupled to the radar device (110) and comprising a brake control unit (130) according to any of claims 1-9, optionally the stability device (120) is configured to generate a trigger signal to activate the brake control unit (130) in response to a deceleration request signal from the radar device (110).

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