CN105329166A - Car safety lane-changing control system and method - Google Patents
Car safety lane-changing control system and method Download PDFInfo
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- CN105329166A CN105329166A CN201510830138.9A CN201510830138A CN105329166A CN 105329166 A CN105329166 A CN 105329166A CN 201510830138 A CN201510830138 A CN 201510830138A CN 105329166 A CN105329166 A CN 105329166A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
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- Traffic Control Systems (AREA)
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Abstract
The invention discloses a car safety lane-changing control system and method. The method comprises the steps: detecting moving objects of two adjacent lanes behind a vehicle, and sending out an early-warning signal for judging whether the lane changing is dangerous or not according to a distance between the targets and the vehicle and the azimuth and relative moving speed of the targets behind the vehicle. Specifically, radar sensors are installed at a rear left side and a rear right side of a car and used for detecting the distance from the targets to the vehicle and azimuth and relative moving speed of the moving objects on the left and right adjacent lanes behind the car relative to the car; a strategy control unit judges whether the lane changing is dangerous or not at the moment according to data information acquired by the radar sensors, if a steering light of the car is not turned on, a first type of alarming signal is transmitted, and if the steering light is turned on, a second type of alarming signal is issued. The target vehicle or an obstacle behind the local lane is judged, and a collision early warning function is realized by virtue of a visual and acoustic system. The implementation way is simple, the cost is low, the performance is stable and reliable, and the lane-changing early warning function is realized.
Description
Technical field
The invention belongs to active safety technologies field, relate to automobile control method, be specifically related to a kind of automotive safety lane change control system and method.
Background technology
In recent years, national arteries of communication presents the features such as a magnitude of traffic flow high position increases, the vehicle become more diversified, masses' trip requirements is day by day vigorous, new situation and new problem continue to bring out, and new steerman safe driving consciousness and technical ability are not suitable with problem and manifest gradually.High speed traffic police analyzes and points out, for the numerous accident of the domestic high speed in Hebei, it is in the majority that non-as prescribed maintenance vehiclar gap brings out accident, has close relationship with road capacity, large wagon flow, steerman quality.The analysis of causes from the accident, illegal change lane is accidents caused accounts for 22.5% of total number of accident.For this reason, the present invention proposes a kind of BSD, LCA and DOW function that is applied in the In System Integration Solutions of one.
Summary of the invention
According to above the deficiencies in the prior art, technical matters to be solved by this invention proposes a kind of automotive safety lane change control system and method, by integrated BSD, LCA and DOW technology, carries out lane change early warning and door opening early warning.
In order to solve the problems of the technologies described above, the technical solution used in the present invention is: a kind of automotive safety lane change control system, comprise radar sensor, strategy control unit, audio frequency and video warning and 12V direct supply, 12V direct supply is each module for power supply, radar sensor is installed on automobile rear left and right sides, the distance of collection, speed signal are sent to strategy control unit, strategy control unit judges whether to exist that lane change is dangerous or door opening is dangerous according to distance, orientation and relative velocity, and sends alerting signal by audio frequency and video warning.Described strategy control unit comprises blind area detection control module, lane change secondary control module and enabling forewarn module, and described blind area detection control module carries out analysis and Control to the blind area data that radar sensor gathers the left and right adjacent domain of automobile.Described lane change secondary control module relies on radar sensor to gather rear area target relative to the distance orientation of this car and speed of relative movement, judges whether danger sends early warning signal in lane change.Described enabling forewarn module, when vehicle stationary, according to the data message that radar sensor collects, judges that now whether door opening is dangerous.Described radar sensor is installed on two side positions after automobile, and outside radar emission faces, aerial radiation face is parallel to automobile rear bumper side plane, level angle allowance error ± 2 degree, direction of aligning, vertical angle allowance error ± 1 degree.
A kind of automotive safety lane change control method, the method realizes blind area detection by radar sensor, lane change is assisted and enabling early warning, comprises the steps; Step one, at automobile rear left and right sides, radar sensor is installed, the distance of the detection moving target in adjacent two tracks, left and right, rear and this car, orientation and speed of relative movement; The data message that step 2, strategy control unit collect according to radar sensor, judges that whether now lane change is dangerous, if steering indicating light do not lighted by this car, then sends first kind alerting signal, if light steering indicating light, then sends Equations of The Second Kind alerting signal.In described step one, radar sensor is installed on two side positions after automobile, and outside radar emission faces, aerial radiation face is parallel to automobile rear bumper side plane, level angle allowance error ± 2 degree, direction of aligning, vertical angle allowance error ± 1 degree.In described step one, the radiation areas of radar sensor comprise closely and middle distance radiation area, closely cover degree azimuth, transverse direction ± 60, longitudinally 20 meters; Middle distance covers transverse direction ± 35 degree of azimuths, fore-and-aft distance 70 meters of scopes.In described step 2, steering indicating light do not lighted by this car, and the first kind alerting signal sent is the vision LED alarm lamp of hazardous side, if light steering indicating light, the Equations of The Second Kind alerting signal sent is audio alarm device and vision LED alarm lamp.The method is further comprising the steps of: when detecting that this car stops, the data message that strategy control unit collects according to radar sensor, judge that now whether door opening is dangerous, dangerous if driven, then send first kind alerting signal, if car door is opened, then send Equations of The Second Kind alerting signal.The data message that radar sensor collects comprises the data message in the backward region of data message and left and right of the blind area of the left and right adjacent domain of automobile.
Beneficial effect of the present invention is: adopt the 24GHz millimeter wave radar of two each and every one low costs to realize wide angle, closely and middle distance rear view of vehicle detection, object filtering is carried out by controller, judge that this track rear area target vehicle or obstacle realize anti-collision warning function by vision & auditory system, program implementation is simple, with low cost, stable and reliable for performance.
Accompanying drawing explanation
Below the content expressed by this Figure of description and the mark in figure are briefly described:
Fig. 1 is the Control system architecture block diagram of the specific embodiment of the present invention.
Fig. 2 is the installation site figure of the radar sensor of the specific embodiment of the present invention.
Fig. 3 is the radar actual scene radiation pattern of the specific embodiment of the present invention.
Fig. 4 is the control policy logical diagram of the specific embodiment of the present invention.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is as the effect of the mutual alignment between the shape of involved each component, structure, each several part and annexation, each several part and principle of work, manufacturing process and operation using method etc., be described in further detail, have more complete, accurate and deep understanding to help those skilled in the art to inventive concept of the present invention, technical scheme.
The invention discloses one and be applied to BSD (blind area detection), LCA (lane change is assisted) and DOW (enabling early warning) In System Integration Solutions.The program is the application solution based on 24GHz radar sensor, implementation is simple, with low cost, receiving sensitivity is high, stable and reliable for performance, system can provide this track and adjacent lane front vehicle relative to the distance of this car, speed and azimuth information, thus realize road parking enabling warning, the application scenarios such as intelligent driving lane change is auxiliary.As shown in Fig. 1 scheme module block diagram, system is made up of two radar sensors, 12V direct supply, strategy control unit, sound sensation & visual alert system.
Implementation procedure is: 12V direct supply is connection strategy control unit, sound sensation & visual alert system simultaneously, and radar sensor, for each unit provides stable dc power supply, ensures the stable operation of each system.Millimeter wave radar is installed on two side positions after automobile, outside radar emission faces, aerial radiation face is parallel to automobile rear bumper side plane, level angle allowance error ± 2 degree, direction aimed at, vertical angle allowance error ± 1 degree, to avoid the normal work of the loss of radar monitoring angle and guarantee radar.Radar erection plan as shown in Figure 2.When hand switch is in open state, when vehicle is charged simultaneously, radar sensor is to rear view of vehicle radiated electromagnetic wave, and radar emission region comprises closely and middle distance radiation area, closely covers horizontal +/-60 degree of azimuths, longitudinally 20 meters; Middle distance covers horizontal +/-35 degree of azimuths, fore-and-aft distance 70 meters of scopes.Radiation pattern as shown in Figure 3.When the electromagnetic wave radiate runs into target in overlay area, namely can produce echoed signal, by echoed signal just detectable rear area target apart from distance, relative velocity, the azimuth information of this car; The most multipotency of radar sensor detects 24 dynamically and static objects simultaneously.Target information is passed to main control unit by CAN (PCANL and PCANH) by radar system, main control unit obtains this 24 target datas by CAN, then pretreatment is carried out to these 24 target datas, judge that obstacle is whether in adjacent lane, reject the rear area target information not in adjacent lane, obtain the rear area target information (distance, speed, orientation) in adjacent lane, make a policy according to the distance of this car of adjacent lane internal object vehicle distances, speed, policy map as shown in Figure 4.
When car speed is zero, namely when vehicle is in static, system starts to detect the close target of rear view of vehicle, and according to the distance of close target range relative to this car, orientation and speed judge now open the door whether have risk of collision, when there is risk of collision, car door is in closed condition, and visual alarm such as LED lamp is lighted, when opening car door, the same alarm of sound sensation vision, namely buzzer phone sound led etc. light to remind steered vehicle that danger.
When the speed of a motor vehicle is non-vanishing, namely when vehicle is kept in motion, in the rear adjacent lane that system provides according to radar, the distance of this car of vehicle distances, speed judge in conjunction with this car speed of a motor vehicle again, when detecting that vehicle is positioned at left and right adjacent domain or left and right backward region and meets ISO17387 regulation alert if, carry out visual alarm, namely LED lamp is lighted, and this led etc. distinguish the left side and right area, namely if there is target vehicle on the left side, left side led etc. lights; If there is target vehicle on the right, the right LED lamp is lighted, and meanwhile, when chaufeur lights steering indicating light, buzzer phone is reported to the police.
As shown in Figure 4, for control policy figure of the present invention, when the hand switch of control system of the present invention is in on-state, rear area target information in the detections of radar adjacent lane of both sides, automobile rear, comprise the distance of rear area target apart from this car, speed and orientation, then the speed of a motor vehicle of this car is judged, if this car speed of a motor vehicle is zero, then according to the information data (speed of rear area target, azimuth-range) carry out opening the door whether have the judgement of collision risk, if there is no dangerous, then do not send alerting signal, if dangerous, then judge whether car door is now in open state further, if be in open state, lightening LED lamp, buzzer phone sends alerting signal simultaneously, if door is in off status, then only lightening LED lamp prompting to open door is dangerous.Concrete, LED comprises left side LED and right side LED, if there is gtoal setting at rear, left side, then the LED in left side is lighted, if there is gtoal setting at rear, right side, then the LED on right side is lighted.
If the speed of a motor vehicle is non-vanishing, namely this car is kept in motion down, then carry out turning to the judgement of whether safety, according to rear area target information (distance, orientation and velocity apart from this car), then obtain relative velocity according to the speed of this car, judge that whether now lane change is dangerous, be safe from danger, do not send alerting signal, dangerous, light the LED of corresponding side, if now the steering indicating light of this side is opened, buzzer phone sends sharp-pointed chimes of doom simultaneously.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; or design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention without to improve.The protection domain that protection scope of the present invention should limit with claims is as the criterion.
Claims (10)
1. an automotive safety lane change control system, it is characterized in that, comprise radar sensor, strategy control unit, audio frequency and video warning and 12V direct supply, 12V direct supply is each module for power supply, radar sensor is installed on automobile rear left and right sides, the distance of collection, speed signal are sent to strategy control unit, and strategy control unit judges whether to exist that lane change is dangerous or door opening is dangerous according to distance, orientation and relative velocity, and sends alerting signal by audio frequency and video warning.
2. automotive safety lane change control system according to claim 1, it is characterized in that, described strategy control unit comprises blind area detection control module, lane change secondary control module and enabling forewarn module, and described blind area detection control module carries out analysis and Control to the blind area data that radar sensor gathers the left and right adjacent domain of automobile.
3. automotive safety lane change control system according to claim 2, it is characterized in that, described lane change secondary control module relies on radar sensor to gather rear area target relative to the distance orientation of this car and speed of relative movement, judges whether danger sends early warning signal in lane change.
4. automotive safety lane change control system according to claim 2, is characterized in that, described enabling forewarn module, when vehicle stationary, according to the data message that radar sensor collects, judges that now whether door opening is dangerous.
5. automotive safety lane change control system according to claim 1, it is characterized in that, described radar sensor is installed on two side positions after automobile, outside radar emission faces, aerial radiation face is parallel to automobile rear bumper side plane, level angle allowance error ± 2 degree, direction aimed at, vertical angle allowance error ± 1 degree.
6. an automotive safety lane change control method, is characterized in that, the method realizes blind area detection by radar sensor, lane change is assisted and enabling early warning, comprises the steps;
Step one, at automobile rear left and right sides, radar sensor is installed, the distance of the detection moving target in adjacent two tracks, left and right, rear and this car, orientation and speed of relative movement;
The data message that step 2, strategy control unit collect according to radar sensor, judges that whether now lane change is dangerous, if steering indicating light do not lighted by this car, then sends first kind alerting signal, if light steering indicating light, then sends Equations of The Second Kind alerting signal.
When step 3, automobile stop, the data message that strategy control unit collects according to radar sensor, judges that now whether door opening is dangerous, dangerous if driven, then send first kind alerting signal, if car door is opened, then send Equations of The Second Kind alerting signal.
7. automotive safety lane change control method according to claim 6, it is characterized in that, in described step one, radar sensor is installed on two side positions after automobile, outside radar emission faces, aerial radiation face is parallel to automobile rear bumper side plane, level angle allowance error ± 2 degree, direction aimed at, vertical angle allowance error ± 1 degree.
8. automotive safety lane change control method according to claim 6, is characterized in that, in described step one, the radiation areas of radar sensor comprise closely and middle distance radiation area, closely covers degree azimuth, transverse direction ± 60, longitudinally 20 meters; Middle distance covers transverse direction ± 35 degree of azimuths, fore-and-aft distance 70 meters of scopes.
9. automotive safety lane change control method according to claim 6, it is characterized in that, if steering indicating light do not lighted by automobile in described step 2, the first kind alerting signal sent is the vision LED alarm lamp of hazardous side, if light steering indicating light, the Equations of The Second Kind alerting signal sent is audio alarm device and vision LED alarm lamp.
10. automotive safety lane change control method according to claim 6, is characterized in that, the data message that radar sensor collects comprises the data message in the backward region of data message and left and right of the blind area of the left and right adjacent domain of automobile.
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| CN201510830138.9A CN105329166A (en) | 2015-11-24 | 2015-11-24 | Car safety lane-changing control system and method |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105291978A (en) * | 2015-11-27 | 2016-02-03 | 安徽工程大学 | Lane changing assistance early warning system and control method thereof |
| CN106004655A (en) * | 2016-06-24 | 2016-10-12 | 深圳市元征科技股份有限公司 | Early warning method and device for blind spot collision |
| CN106097775A (en) * | 2016-06-07 | 2016-11-09 | 腾讯科技（深圳）有限公司 | A kind of method for early warning, terminal unit and server of based on navigation |
| CN106314276A (en) * | 2016-09-22 | 2017-01-11 | 西华大学 | Rear car overtaking reminding system based on distance measuring |
| CN106428001A (en) * | 2016-09-28 | 2017-02-22 | 浙江吉利控股集团有限公司 | Forealarming method and system for lane changing of vehicle |
| CN106740443A (en) * | 2016-12-30 | 2017-05-31 | 西华大学 | Automobile rear car based on sequence of video images is overtaken other vehicles prompt system |
| CN106926779A (en) * | 2017-03-09 | 2017-07-07 | 吉利汽车研究院（宁波）有限公司 | A kind of vehicle lane change accessory system |
| CN108162855A (en) * | 2017-03-30 | 2018-06-15 | 广东东箭汽车科技股份有限公司 | A kind of automobile lane change auxiliary system and its control method and application |
| CN108520639A (en) * | 2018-06-15 | 2018-09-11 | 中国安全生产科学研究院 | A kind of method for early warning and system preventing vehicle collision |
| CN108604416A (en) * | 2016-03-11 | 2018-09-28 | 三菱电机株式会社 | Car-mounted device, alarm output method and alarm output program |
| CN108891376A (en) * | 2018-08-10 | 2018-11-27 | 上海申视汽车新技术有限公司 | A kind of automotive safety lane change early warning system and method being integrated in rearview mirror |
| CN109031308A (en) * | 2018-08-29 | 2018-12-18 | 森思泰克河北科技有限公司 | Radar sensor and vehicle collision prewarning method |
| CN109073748A (en) * | 2016-04-29 | 2018-12-21 | 奥托立夫开发公司 | To the misalignment detection of Radar for vehicle sensor |
| CN109455137A (en) * | 2017-09-06 | 2019-03-12 | 本田技研工业株式会社 | Drive supporting device and driving support method |
| CN110161505A (en) * | 2019-05-21 | 2019-08-23 | 一汽轿车股份有限公司 | One kind being based on millimetre-wave radar rear anti-crash method for early warning |
| CN110194169A (en) * | 2019-05-31 | 2019-09-03 | 惠州华阳通用智慧车载系统开发有限公司 | A kind of vehicle lane change householder method |
| CN110281843A (en) * | 2019-06-26 | 2019-09-27 | 浙江吉利控股集团有限公司 | A kind of blind monitoring alarm lamp brightness regulating apparatus and method |
| CN111351498A (en) * | 2018-12-21 | 2020-06-30 | 沈阳美行科技有限公司 | Optimized navigation method, device and related equipment |
| CN112037366A (en) * | 2020-09-07 | 2020-12-04 | 广州勘帝德电子科技有限公司 | Automobile driving safety assisting method and system |
| CN114572111A (en) * | 2022-03-31 | 2022-06-03 | 东风汽车集团股份有限公司 | Intelligent steering wheel overtaking reminding method, device and equipment and reading and storing medium |
| CN116039503A (en) * | 2023-03-30 | 2023-05-02 | 江铃汽车股份有限公司 | Commercial vehicle vision blind area monitoring and reminding method, mobile terminal and storage medium |
| CN116331105A (en) * | 2023-03-27 | 2023-06-27 | 德力新能源汽车有限公司 | Container door opening and closing state reminding method, device, equipment and medium |
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| CN105291978B (en) * | 2015-11-27 | 2016-09-14 | 安徽工程大学 | Vehicle lane change auxiliary early warning system and control method thereof |
| CN105291978A (en) * | 2015-11-27 | 2016-02-03 | 安徽工程大学 | Lane changing assistance early warning system and control method thereof |
| CN108604416A (en) * | 2016-03-11 | 2018-09-28 | 三菱电机株式会社 | Car-mounted device, alarm output method and alarm output program |
| CN109073748B (en) * | 2016-04-29 | 2022-08-23 | 维宁尔瑞典公司 | Vehicle radar system and method of estimating misalignment of vehicle radar system |
| CN109073748A (en) * | 2016-04-29 | 2018-12-21 | 奥托立夫开发公司 | To the misalignment detection of Radar for vehicle sensor |
| CN106097775A (en) * | 2016-06-07 | 2016-11-09 | 腾讯科技（深圳）有限公司 | A kind of method for early warning, terminal unit and server of based on navigation |
| CN106004655A (en) * | 2016-06-24 | 2016-10-12 | 深圳市元征科技股份有限公司 | Early warning method and device for blind spot collision |
| CN106314276A (en) * | 2016-09-22 | 2017-01-11 | 西华大学 | Rear car overtaking reminding system based on distance measuring |
| CN106428001A (en) * | 2016-09-28 | 2017-02-22 | 浙江吉利控股集团有限公司 | Forealarming method and system for lane changing of vehicle |
| CN106740443A (en) * | 2016-12-30 | 2017-05-31 | 西华大学 | Automobile rear car based on sequence of video images is overtaken other vehicles prompt system |
| CN106926779A (en) * | 2017-03-09 | 2017-07-07 | 吉利汽车研究院（宁波）有限公司 | A kind of vehicle lane change accessory system |
| CN106926779B (en) * | 2017-03-09 | 2019-10-29 | 吉利汽车研究院（宁波）有限公司 | A kind of vehicle lane change auxiliary system |
| CN108162855A (en) * | 2017-03-30 | 2018-06-15 | 广东东箭汽车科技股份有限公司 | A kind of automobile lane change auxiliary system and its control method and application |
| CN109455137A (en) * | 2017-09-06 | 2019-03-12 | 本田技研工业株式会社 | Drive supporting device and driving support method |
| US11180139B2 (en) | 2017-09-06 | 2021-11-23 | Honda Motor Co., Ltd. | Driving support device and driving support method |
| CN108520639B (en) * | 2018-06-15 | 2023-10-27 | 中国安全生产科学研究院 | Early warning method and system for preventing vehicle collision |
| CN108520639A (en) * | 2018-06-15 | 2018-09-11 | 中国安全生产科学研究院 | A kind of method for early warning and system preventing vehicle collision |
| CN108891376A (en) * | 2018-08-10 | 2018-11-27 | 上海申视汽车新技术有限公司 | A kind of automotive safety lane change early warning system and method being integrated in rearview mirror |
| CN109031308A (en) * | 2018-08-29 | 2018-12-18 | 森思泰克河北科技有限公司 | Radar sensor and vehicle collision prewarning method |
| CN109031308B (en) * | 2018-08-29 | 2024-04-26 | 森思泰克河北科技有限公司 | Radar sensor and vehicle collision early warning method |
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| CN111351498A (en) * | 2018-12-21 | 2020-06-30 | 沈阳美行科技有限公司 | Optimized navigation method, device and related equipment |
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| CN110281843A (en) * | 2019-06-26 | 2019-09-27 | 浙江吉利控股集团有限公司 | A kind of blind monitoring alarm lamp brightness regulating apparatus and method |
| CN112037366A (en) * | 2020-09-07 | 2020-12-04 | 广州勘帝德电子科技有限公司 | Automobile driving safety assisting method and system |
| CN114572111A (en) * | 2022-03-31 | 2022-06-03 | 东风汽车集团股份有限公司 | Intelligent steering wheel overtaking reminding method, device and equipment and reading and storing medium |
| CN116331105A (en) * | 2023-03-27 | 2023-06-27 | 德力新能源汽车有限公司 | Container door opening and closing state reminding method, device, equipment and medium |
| CN116039503A (en) * | 2023-03-30 | 2023-05-02 | 江铃汽车股份有限公司 | Commercial vehicle vision blind area monitoring and reminding method, mobile terminal and storage medium |
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Application publication date: 20160217 |