CN105774689B - Method and apparatus for detecting the possible collision near vehicle - Google Patents
Method and apparatus for detecting the possible collision near vehicle Download PDFInfo
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- CN105774689B CN105774689B CN201410811931.XA CN201410811931A CN105774689B CN 105774689 B CN105774689 B CN 105774689B CN 201410811931 A CN201410811931 A CN 201410811931A CN 105774689 B CN105774689 B CN 105774689B
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Abstract
The present invention provides a kind of method and apparatus for detecting the possible collision near vehicle.The device includes：At least one sensor positioned at the side of the vehicle, it is configured to second object of the sensing positioned at first object of the same side of the vehicle and positioned at first object rear, and determines the second speed of the First Speed and second object of first object respectively；Processing unit is configured as determining whether may collide between first object and second object according to the First Speed and the second speed.
Description
Technical field
The present invention relates to field of vehicle control, more specifically, are related to a kind of possible touching for detect near vehicle
The method and apparatus hit.
Background technology
Driver drive vehicle when, due to blocking of vehicle body etc., around vehicle body there is driver's seat without
The region that method reaches, that is, so-called blind spot region.Known many traffic accidents can not all be observed with driver in time
The interior event occurred of blind spot region simultaneously in time takes measures to it related.For example, for the larger heavy truck of build, vehicle
There are larger blind spot regions for body surrounding, and for the smaller vehicle of the builds such as car, station wagon, around vehicle body
Also it correspondingly there will be smaller blind spot region.Therefore, regardless of vehicle size, the presence of blind spot region is for driver's
All it is a huge threat for safe driving.
For this purpose, a solution is to be equipped with room mirror and exterior mirror for vehicle, to expand regarding for driver
It is wild.However, this arrangement increases the complexity of driver's operation, and these rearview mirrors are generally difficult to adjust, cannot be effective
Observe entire blind spot region.
Another solution is to use blind-spot detection (BSD) system, using various sensors to being in blind spot region
In object be detected and remind driver.For example, German patent application DE102008061359A1,
DE102010033207A1, United States Patent (USP) US6265968B etc. are described to be detected in vehicle blind spot region using BSD systems
Existing object or other vehicles and the scheme that possible dangerous situation is reminded to driver.
Invention content
In the above scheme, BSD systems contribute to generate collision between detection current vehicle and another object or vehicle
Possibility and current vehicle is reminded.However, in a practical situation, two or more vehicles near current vehicle
Or the collision between object may also impact current vehicle, so that calamity of the current vehicle by pond fish.
For this purpose, the present invention proposes a kind of scheme for detecting the possible collision near vehicle so that vehicle drive
Member can learn possible dangerous and be avoided in time.
According to the first aspect of the invention, a kind of method for detecting the possible collision near vehicle is provided,
Including：The first object and the second object positioned at first object rear are sensed in the same side of the vehicle；It is true respectively
The second speed of the First Speed and second object of fixed first object；And according to the First Speed and described
Whether two speed determine and may collide between first object and second object.
In one embodiment of the invention, described first pair is determined according to the First Speed and the second speed
As whether may collide between second object including：When the second speed is more than the First Speed, really
It is fixed to collide between first object and second object；When the second speed is less than or equal to described first
When speed, determining can not possibly collide between first object and second object.
In one embodiment of the invention, this method further includes：When determining first object and second pair described
When may collide as between, alerting signal is sent out from the reminding unit of the vehicle to the vehicle.
In this way, the driver of vehicle can learn possible dangerous situation and take measures in time.
In one embodiment of the invention, this method further includes：When determining first object and second pair described
When may collide as between, prompting is sent out from the reminding unit of the vehicle to first object and second object
Signal.
In this way, the first object and the second object, such as vehicle can also learn possible dangerous situation in time
And it takes measures.
In one embodiment of the invention, this method further includes：Determine first object and second object
The time that may be collided, and the wherein described alerting signal includes the identified time that may be collided.
In one embodiment of the invention, the alerting signal passes through in sound, voice, light, display and tactile
At least one of realize.
In one embodiment of the invention, first object and second object are moving vehicles.
In one embodiment of the invention, the First Speed of first object and second object are determined respectively
Second speed include：Described the is determined by detecting the Doppler frequency shift of first object and second object respectively
One speed and the second speed.
According to the second aspect of the invention, a kind of device for detecting the possible collision near vehicle is provided,
Including：At least one sensor positioned at the side of the vehicle is configured to sensing positioned at the same of the vehicle
First object of side and the second object positioned at first object rear, and the first speed of first object is determined respectively
The second speed of degree and second object；Processing unit is configured as true according to the First Speed and the second speed
It is fixed whether to collide between first object and second object.
In one embodiment of the invention, the processing unit is configured as being more than described the when the second speed
When one speed, determining may collide between first object and second object；Be less than when the second speed or
When equal to the First Speed, determining can not possibly collide between first object and second object.
In one embodiment of the invention, which further includes：Reminding unit is configured as when determining described the
When may collide between an object and second object, alerting signal is sent out to the vehicle.
In this way, the driver of vehicle can learn possible dangerous situation and take measures in time.
In one embodiment of the invention, which further includes：Reminding unit is configured as when determining described the
When may collide between an object and second object, prompting letter is sent out to first object and second object
Number.
In this way, the first object and the second object, such as vehicle can also learn possible dangerous situation in time
And it takes measures.
In one embodiment of the invention, the processing unit is additionally configured to determine first object and described
The time that second object may collide, and the alerting signal includes the identified time that may be collided.
In one embodiment of the invention, the alerting signal passes through in sound, voice, light, display and tactile
At least one of realize.
In one embodiment of the invention, first object and second object are moving vehicles.
In one embodiment of the invention, first object and second object are located at the track of the vehicle
Adjacent lane in.
In one embodiment of the invention, the sensor is ultrasonic sensor.The usual valence of ultrasonic sensor
Lattice are cheap.
Using the solution of the present invention, the driver of vehicle can learn in time dangerous collision situation and take measures with
Such case is avoided, to improve drive safety.
Description of the drawings
It, will be more preferable geographical after description by the specific implementation mode below with reference to the present invention given by following drawings
The solution present invention, and other objects of the present invention, details, features and advantages will become apparent.In the accompanying drawings：
Fig. 1 shows the schematic diagram of the operative scenario of methods and apparatus of the present invention；
Fig. 2 shows the block diagrams according to the present invention for detecting the device of the possible collision near vehicle；
Wherein, in various figures, same or analogous reference numeral indicates same or analogous function or element.
Specific implementation mode
The preferred embodiment of the present invention is more fully described below with reference to accompanying drawings.Although showing the present invention in attached drawing
Preferred embodiment, however, it is to be appreciated that may be realized in various forms the present invention without the embodiment party that should be illustrated here
Formula is limited.On the contrary, these embodiments are provided so that the present invention is more thorough and complete, and can be by the present invention's
Range is completely communicated to those skilled in the art.
Fig. 1 shows the schematic diagram of the operative scenario of methods and apparatus of the present invention.
As shown in fig. 1, it is assumed that track 1 and track 2 are two adjacent tracks, and target vehicle 10 travels on track 1,
One or more vehicles (such as vehicle 20 and vehicle 30) traveling are on track 2.In order to which that detects near vehicle 10 possible touches
It hits, such as the possible collision between the vehicle 20 and vehicle 30 of movement, vehicle 10 are equipped with as being described in detail with reference to Fig. 2
Device 100.
Fig. 2 shows the block diagrams according to the present invention for detecting the device 100 of the possible collision near vehicle 10.
Device 100 can for example be integrated into a part for existing BSD systems.Device 100 is shown as wrapping by Fig. 2 in block form an
Include a corpus separatum of each component part.It will be appreciated by those skilled in the art that each component part of device 100
It can be distributed across on the entire vehicle body of vehicle 10.
As shown in Figure 2, device 100 includes at least one sensor 110 positioned at the side of vehicle 10.Sensor 110
Such as can be arranged at the outside rear-view mirror of vehicle 10 (as shown in A in Fig. 1), at the headlight of vehicle 10 (such as B institutes in Fig. 1
Show) and/or the vehicle of vehicle 10 after at headlight (as shown in C in Fig. 1).In a kind of preferred implementation, sensor 110 is desirably integrated into
On the vehicle body of vehicle 10, such as it is integrated on the side of vehicle body of vehicle 10.It is appreciated that being illustrated only positioned at vehicle in Fig. 1
The sensor 110 in 10 left sides, 10 right side of vehicle are similarly also deployed with sensor 110.
Sensor 110 is configured to sensing positioned at first vehicle 20 of the same side of vehicle 10 and is located at the first vehicle
Second vehicle 30 at 20 rears.With reference to figure 1 as can be seen that two sensed vehicles 20 and 30 are located at the same of current vehicle 10
Side.
In one implementation, sensor 110 is ultrasonic sensor.The usual cheaper of ultrasonic sensor.However,
It will be understood by those skilled in the art that sensor 110 can also be other kinds of sensor, for example, camera, infrared system,
The combination of the sensor of radio wave system, radar system etc. or these types.
When the first vehicle 20 and the second vehicle 30 near sensor 110 senses vehicle 10, first is determined respectively
The speed V2 of the speed V1 of vehicle 20 and the second vehicle 30.
In one implementation, sensor 110 passes through the Doppler frequency shift of detection the first vehicle 20 and the second vehicle 30 respectively
To determine speed V1 and V2.
Device 100 further includes processing unit 120.Processing unit 120 can be a part of vehicle control system (ECU),
Or the processing unit of ECU can be independently of.
Processing unit 120 is configured as determining first according to the speed V1 of the first vehicle 20 and the speed V2 of the second vehicle 30
Whether may collide between vehicle 20 and the second vehicle 30.
More specifically, processing unit 120 is configured as, when speed V2 is more than speed V1, determining the first vehicle 20 and second
It may collide between vehicle 30；When speed V2 is less than or equal to speed V1, the first vehicle 20 and the second vehicle 30 are determined
Between can not possibly collide.
Further, device 100 can also include reminding unit 130, be configured as when determining the first vehicle 20 and the
When may collide between two vehicles 30, alerting signal is sent out to vehicle 10.Reminding unit 130 can be in processing unit 120
Determination is triggered when may collide.
After vehicle 10 receives the alerting signal, driver can learn dangerous situation nearby, thus by vehicle
10 sail out of danger zone.
In addition, reminding unit 130 is also configured to occur when possible between determining first vehicle 20 and the second vehicle 30
When collision, alerting signal is sent out to the first vehicle 20 and the second vehicle 30.In this case, the driving of vehicle 20 and vehicle 30
Member can also learn the presence of dangerous situation in time, to take measures to keep clear.
Alerting signal can be realized by least one in sound, voice, light, display and tactile.In a kind of realization
In, reminding unit 130 may include the loud speaker positioned at vehicle interior and/or outside, be located at vehicle interior and/or external front side
And/or the indicator light etc. of rear side.It is thus possible to be sent out to the driver of vehicle 10,20 and 30 by the loud speaker and/or indicator light
Go out sound or voice reminder.Alternatively, tactile manner, such as seat vibrations etc. can be passed through so that the driver of vehicle 10 receives
To the alerting signal.
In one implementation, processing unit 120 is additionally configured to determine that the first vehicle 20 and the second vehicle 30 may
The time to collide.
Specifically, further sensor 110 can be utilized to measure the distance between the first vehicle 20 and the second vehicle 30
D.The time t that may be collided can be determined as follows：
In this case, the alerting signal that reminding unit 130 is sent out can also may be touched including identified
The time t hit.
In addition, when determination may collide, the processing unit 120 of vehicle 10 can also notify the information to outside
Source, such as inter-vehicular communication unit or central control unit.
Herein, it is described in the BSD systems that device 100 is integrated in vehicle 10.However this field skill
Art personnel are appreciated that the present invention is not limited thereto, and device 100 can be implemented as the list of the BSD systems independently of vehicle 10
Only system.
Herein, the possible collision near vehicle 10 described by taking the vehicle of movement 20 and 30 as an example, however ability
Field technique personnel are appreciated that the present invention is not limited thereto, and vehicle 10 can similarly detect other movements pair near it
The possibility between possibility collision or a moving vehicle near it and another movement or fixed object as between is collided.
Herein, it is described so that vehicle 10 travels on two parallel tracks respectively with vehicle 20,30 as an example, so
And it will be understood by those skilled in the art that the present invention is not limited thereto, vehicle 20 and 30 might not be travelled in vehicle 10
Adjacent lane, but any other position that can be sensed by sensor 110 near vehicle 10 can be located at.For example, vehicle
20 or 30 can travel shadow region etc. shown in Fig. 1.
Those of ordinary skill in the art should also understand that, the various illustrative logics described in conjunction with embodiments herein
Electronic hardware or computer software may be implemented into block, unit and method and step, or even is embodied as the combination of the two.In order to clear
Indicate to Chu that this interchangeability between hardware and software, above-mentioned various illustrative components, unit and method and step are enclosed
General description has been carried out around its function.It is implemented as hardware as this function and is also implemented as software, depends on specific
Using and apply design constraint over the whole system.Those skilled in the art can be directed to each specific application, to become
Logical mode realizes described function, and still, this realization decision should not be interpreted as causing a departure from the scope of this disclosure.
The above description of the present invention is for enabling any those of ordinary skill of this field to realize or use the present invention.It is right
For those of ordinary skill in the art, various modifications or changes of the invention will be apparent from, and defined herein
General principle can also be applied to other deformations in the case of without deviating from the spirit and scope of the disclosed invention.Therefore, originally
Invention is not limited to example as described herein and design, but with the widest scope phase of principle disclosed herein and novel features
Unanimously.
Claims (19)
1. method of the one kind for detecting the possible collision of vehicle (10) nearby, including：
At least one sensor (110) by being located at the side of the vehicle (10) is sensed in the same side of the vehicle (10)
First object (20) and the second object (30) for being located at the first object (20) rear；
Determined respectively by the sensor (110) first object (20) First Speed and second object (30) the
Two speed；And
By the processing unit (120) of the vehicle (10) described first pair is determined according to the First Speed and the second speed
As that whether may collide between (20) and second object (30).
2. the method as described in claim 1, wherein determining described first pair according to the First Speed and the second speed
As whether may collide between (20) and second object (30) including：
When the second speed is more than the First Speed, determine first object (20) and second object (30) it
Between may collide；
When the second speed is less than or equal to the First Speed, first object (20) and second object are determined
(30) it can not possibly collide between.
3. the method as described in claim 1 further includes：
When determine may collide between first object (20) and second object (30) when, by the vehicle (10)
Reminding unit (130) send out alerting signal to the vehicle (10).
4. the method as described in claim 1 further includes：
When determine may collide between first object (20) and second object (30) when, by the vehicle (10)
Reminding unit (130) send out alerting signal to first object (20) and second object (30).
5. method as described in claim 3 or 4, further includes：
Determine the time that first object (20) and second object (30) may collide, and the wherein described prompting
Signal includes the identified time that may be collided.
6. method as described in claim 3 or 4, wherein the alerting signal by sound, light, display and tactile at least
One realizes.
7. method as claimed in claim 6, wherein the sound includes voice.
8. the method as described in any one of claim 1-4, wherein first object (20) and second object (30)
It is moving vehicle.
9. the method as described in any one of claim 1-4, wherein determining the First Speed of first object (20) respectively
Second speed with second object (30) includes：Respectively by detecting first object (20) and second object
(30) Doppler frequency shift determines the First Speed and the second speed.
10. device (100) of the one kind for detecting the possible collision of vehicle (10) nearby, including：
At least one sensor (110) positioned at the side of the vehicle (10) is configured to sensing and is located at the vehicle
The first object (20) of the same side of (10) and the second object (30) positioned at the first object (20) rear, and respectively
Determine the second speed of the First Speed and second object (30) of first object (20)；
Processing unit (120) is configured as determining first object (20) according to the First Speed and the second speed
Whether may collide between second object (30).
11. device as claimed in claim 10, wherein the processing unit (120) is configured as being more than when the second speed
When the First Speed, determining may collide between first object (20) and second object (30)；When described
When second speed is less than or equal to the First Speed, determine between first object (20) and second object (30) not
It may collide.
12. device as claimed in claim 10, further includes：
Reminding unit (130) is configured as possible between first object (20) and second object (30) when determining
When colliding, alerting signal is sent out to the vehicle (10).
13. device as claimed in claim 10, further includes：
Reminding unit (130) is configured as possible between first object (20) and second object (30) when determining
When colliding, alerting signal is sent out to first object (20) and second object (30).
14. device as described in claim 12 or 13, wherein the processing unit (120) is additionally configured to determine described first
The time that object (20) and second object (30) may collide, and the alerting signal includes identified possibility
The time to collide.
15. device as described in claim 12 or 13, wherein the alerting signal passes through in sound, light, display and tactile
At least one of realize.
16. device as claimed in claim 15, wherein the sound includes voice.
17. the device as described in any one of claim 10-13, wherein first object (20) and second object
(30) it is moving vehicle.
18. the device as described in any one of claim 10-13, wherein first object (20) and second object
(30) it is located in the adjacent lane in track of the vehicle (10).
19. the device as described in any one of claim 10-13, wherein the sensor (110) is ultrasonic sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410811931.XA CN105774689B (en) | 2014-12-23 | 2014-12-23 | Method and apparatus for detecting the possible collision near vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410811931.XA CN105774689B (en) | 2014-12-23 | 2014-12-23 | Method and apparatus for detecting the possible collision near vehicle |
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| Publication Number | Publication Date |
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| CN105774689A CN105774689A (en) | 2016-07-20 |
| CN105774689B true CN105774689B (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101641610A (en) * | 2007-02-21 | 2010-02-03 | 电子地图北美公司 | System and method for vehicle navigation and piloting including absolute and relative coordinates |
| CN102576495A (en) * | 2009-10-30 | 2012-07-11 | 罗伯特·博世有限公司 | Collision monitor for a motor vehicle |
| CN102627091A (en) * | 2011-02-08 | 2012-08-08 | 沃尔沃汽车公司 | Method for reducing the risk of a collision between a vehicle and a first external object |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8165796B2 (en) * | 2008-09-05 | 2012-04-24 | Robert Bosch Gmbh | Collision avoidance system and method |
| JP2010277123A (en) * | 2009-05-26 | 2010-12-09 | Mazda Motor Corp | Driving support system for vehicle |
| US9000903B2 (en) * | 2012-07-09 | 2015-04-07 | Elwha Llc | Systems and methods for vehicle monitoring |
-
2014
- 2014-12-23 CN CN201410811931.XA patent/CN105774689B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101641610A (en) * | 2007-02-21 | 2010-02-03 | 电子地图北美公司 | System and method for vehicle navigation and piloting including absolute and relative coordinates |
| CN102576495A (en) * | 2009-10-30 | 2012-07-11 | 罗伯特·博世有限公司 | Collision monitor for a motor vehicle |
| CN102627091A (en) * | 2011-02-08 | 2012-08-08 | 沃尔沃汽车公司 | Method for reducing the risk of a collision between a vehicle and a first external object |
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| CN105774689A (en) | 2016-07-20 |
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