CN107662644A - Vehicle for the drive assist system and method for vehicle and comprising the system - Google Patents
Vehicle for the drive assist system and method for vehicle and comprising the system Download PDFInfo
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- CN107662644A CN107662644A CN201610617532.9A CN201610617532A CN107662644A CN 107662644 A CN107662644 A CN 107662644A CN 201610617532 A CN201610617532 A CN 201610617532A CN 107662644 A CN107662644 A CN 107662644A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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Abstract
The invention discloses the drive assist system for vehicle and method and the vehicle including the system.Drive assist system includes：Detection unit, it is configured as detecting the vehicle and turns around to be intended to；Evaluation unit, be configured to respond to detect turns around to be intended to, and evaluates the feasibility to be turned around on the road in mileage chart；And recommendation unit, it is configured as recommending pattern and/or the position turned around based on the feasibility evaluated.The program, which allows more accurately to search for suitable position, to be turned around.
Description
Technical field
This disclosure relates to control technology, and more particularly, to the drive assist system for vehicle and method and
Vehicle comprising the system.
Background technology
Vehicle may need to turn around during traveling, and this is based on the intention demand of driver, or due to being oriented to
Required by the navigation way of destination.The driver of vehicle may must determine and be turned around whether current location can be realized.Should
It is determined that it is typically based on personal experience and visual information.For example, driver may judge that road width is narrow, it is impossible to completion is turned around,
Or judge that the present bit on road is equipped with sufficiently large space, it can complete to turn around.When judging can not to turn around in current location
When, driver may will also rely on personal experience can complete the position turned around in searching within sweep of the eye.However, driver
Personal experience may be inaccurate, and this may cause turn around operation failure and the multiplicating trial of vehicle.
The content of the invention
One or more of the defects of in order to overcome in the prior art, the present disclosure discloses a kind of driving for vehicle
Accessory system and method, it can allow the vehicle to correctly find the position that can be turned around.The disclosure also discloses
A kind of vehicle for including this drive assist system.
In an aspect of this disclosure, a kind of drive assist system for vehicle is disclosed, including：Detection unit,
It is configured as detecting the vehicle to turn around to be intended to；Evaluation unit, be configured to respond to detect turns around to be intended to, and evaluates
The feasibility to be turned around on road in mileage chart；And recommendation unit, it is configured as pushing away based on the feasibility evaluated
Recommend the pattern to be turned around and/or position.
Alternatively, mileage chart includes the first mileage chart for present scope, and/or for time in the past section or past away from
From the second mileage chart, and/or the 3rd mileage chart for future time section or following distance；And the mileage chart is based on profit
It is being generated with the detection of one or more sensors to surrounding environment and/or obtain from database, such as from being locally stored
Or the high-resolution map stored on addressable server obtains.
Alternatively, one or more sensors are from including imaging sensor, laser sensor, radar sensor and super
Selected in the set of sonic sensor.
Alternatively, evaluation unit is configured to be directed to the space in mileage chart with given shape, by following
Mode evaluates the feasibility to turn around：One or more yardsticks in the space are compared with corresponding limiting threshold value；And/or profit
Turned to maximum to be simulated to the track turned around in the space；Wherein, given shape includes T-shaped and/or straight band.
Alternatively, for the yardstick in space by borders, the border includes wall, roadblock, static object (for example, parking
Vehicle), plant, curb or irrigation canals and ditches.
Alternatively, any one or combination during evaluation unit is configured as in the following manner are entered to the track turned around
Row simulation：For the T-shaped space more than the first scope, the track turned around is simulated using a step T-shaped cornering mode；Pin
To the T-shaped space less than the first scope, the track turned around is simulated using multistep T-shaped cornering mode；It is right for vehicle
The T-shaped space of side, the T-shaped cornering mode that is entered using tail are simulated to the track turned around；It is empty for the T-shaped of vehicle left side
Between, the T-shaped cornering mode that is entered using head is simulated to the track turned around；For the straight carrying space more than the second scope, profit
The track turned around is simulated with a step u turn pattern；And for the straight carrying space less than the second scope, using more
U turn pattern is walked to be simulated to the track turned around.
Alternatively, the step number of multistep T-shaped cornering mode or multistep u turn pattern passes through the real-time inspection based on mileage chart
Survey, the track turned around is simulated to determine.
Alternatively, recommendation unit includes one or more of following：Display, it is configured as the pattern to being recommended
And/or space is visualized；Navigation system, it is configured as updating navigation way based on the space recommended；And raise one's voice
Device, it is configured as exporting the acoustic information relevant with the pattern recommended and/or space.
Alternatively, detection unit is configured as turning around to be intended to detect vehicle in the following manner：If navigation way
Need to turn around but the width of road is narrower than activation threshold, it is determined that turn around to be intended to；And/or received from the user of vehicle and turn around to activate
Order.
Alternatively, system also includes accessory part, be configured as aid in vehicle turned around, accessory part can include with
Any one in lower or combination：Man-machine interface, for utilizing visualization track or the sound instruction of the pattern that turns around recommended
Carry out the driver of guiding vehicle；Course changing control mechanism, for turning around pattern based on what is recommended to control the steering of vehicle；Braking
With E-Gas controlling organization, for turning around pattern based on what is recommended to control the braking of vehicle and E-Gas, and/or use
In based on the collision time or distance between vehicle and roadblock, during turning around control for roadblock braking, and, speed change control
Mechanism processed, for turning around pattern based on what is recommended to control the speed change of vehicle.
In second aspect of the disclosure, a kind of vehicle, including above-mentioned drive assist system are disclosed.
In the 3rd aspect of the disclosure, a kind of driving assistance method for vehicle is disclosed, including：Detect vehicle
Turn around be intended to；Turn around to be intended in response to what is detected, evaluate the feasibility to be turned around on the road in mileage chart；And
Based on the feasibility evaluated, recommend pattern and/or the space turned around.
Alternatively, mileage chart includes the first mileage chart for present scope, and/or for time in the past section or past away from
From the second mileage chart, and/or the 3rd mileage chart for future time section and following distance；Also, mileage chart is based on profit
Generated with detection of one or more sensors to surrounding environment, and/or obtained from database, such as from being locally stored
Or the high-resolution map that is stored on addressable server obtain.
Alternatively, the feasibility to be turned around for the Highway Evaluation in mileage chart includes, for having spy in mileage chart
The space of setting shape：One or more yardsticks in the space are compared with corresponding limiting threshold value；And/or turned using maximum
Always to turning around to simulate in the space；Wherein, the given shape includes T-shaped and/or straight band.
Alternatively, simulation is carried out to the track turned around in space includes following any or its combination：For more than first
The T-shaped space of scope, the track turned around is simulated using a step T-shaped cornering mode；For the T-shaped less than the first scope
Space, the track turned around is simulated using multistep T-shaped cornering mode；For the T-shaped space of the vehicle right side, utilize
T-shaped cornering mode that tail enters is simulated to the track turned around；For the T-shaped space of the vehicle left side, the T entered using head
Z bend pattern is simulated to the track turned around；For the straight carrying space more than the second scope, a step u turn mould is utilized
Formula is simulated to the track turned around；And for less than the straight carrying space of the second scope, using multistep u turn pattern come pair
Simulated the track turned around.
Alternatively, based on the feasibility evaluated recommend carry out u turn pattern and/or position include it is following in
Any one or combination：The pattern and/or position recommended are visualized in view system；Based on the position recommended
To update navigation way；And provide the acoustic information relevant with the pattern recommended and/or position.
Alternatively, detecting the intention that turns around of vehicle includes：If navigation way needs to turn around but road width compares threshold of activation
It is worth narrow, it is determined that turn around to be intended to；And/or receive the activation command that turns around from the user of vehicle.
Alternatively, method is also included one or more of in the following manner to aid in vehicle when being turned around：Profit
With the visualization track for the pattern that turns around recommended come the driver of guiding vehicle based on the pattern that turns around recommended come automatically
Control the steering of vehicle；Pattern is turned around automatically to control the steering of vehicle, braking and E-Gas and become based on what is recommended
Speed；And based on the collision distance between vehicle and roadblock or time, the braking of roadblock is automatically controlled to during turning around.
According to some embodiments of the present disclosure, turn around to be intended in response to what is detected, for the various positions on road, hold
Evaluation of the row on the feasibility that turns around, and using as evaluation result turn around pattern and/or driver is recommended in position.This side
Case, which allows more accurately to search for suitable position of turning around, to be turned around.
Brief description of the drawings
In order to be clearly shown the technical scheme in embodiment of the disclosure, the institute in the description to embodiment is given below
The brief introduction of the accompanying drawing needed.It should be evident that drawings described below is some embodiments of the present disclosure, it is attached based on these
Figure, those of ordinary skill in the art can obtain other accompanying drawings, without any performing creative labour.
Fig. 1 is shown in which that the example system of the one or more aspects of embodiment of the disclosure can be realized；
Fig. 2 shows the flow chart of the driving assistance method for vehicle in accordance with an embodiment of the present disclosure；
Fig. 3 a- Fig. 3 d are the schematic diagrames for showing several patterns that turn around in accordance with an embodiment of the present disclosure；And
Fig. 4 is the block diagram for showing drive assist system in accordance with an embodiment of the present disclosure.
Embodiment
The embodiment of the disclosure is provided below by reference to drawings and examples.Particular embodiment described herein
It is only used for explaining the disclosure, and is not intended to the limitation disclosure or its application or uses.It should be understood that for the ease of retouching
State, accompanying drawing illustrate only the relevant portion of the disclosure.
Fig. 1 is shown in which that the example system of the one or more aspects of embodiment of the disclosure can be realized.Such as Fig. 1
Shown, system 100 includes processor 11, memory 12, one or more input/output components 13, one or more sensors
14 and controlling organization 15.It should be understood that system 100 is only an example of drive assist system, system 100 can be with
Configured with parts more more or less than diagram, or with different parts.
Memory 12 can be random access memory (RAM), static RAM (SRAM), dynamic ram (DRAM) etc.
Volatile memory, or the nonvolatile memory of read-only storage (ROM), flash memory, disk etc., or two
Certain combination of person.Memory 12 can be used for storing can be by the programmed instruction of computing device.
Memory 12 can also store various component softwares, and component software is, for example, to serve as navigation by what is be related in the disclosure
The navigation application 121 of a part for system.
In addition, memory 12 can be also used for the storage number required when system 100 performs the various functions of the disclosure
According to the data are, for example, the mileage chart 122 that will be related in the disclosure.In embodiment of the disclosure, mileage chart 122 can refer to
Graph-based of the generation to vehicle-periphery.For example, mileage chart 122 can include the width of current lane, direction, shape,
Type information.In certain embodiments, mileage chart 122, which can also include traffic instruction, lane markings etc., helps to drive
Any other information.These information can be supplied to driver via user interface in the form of word or figure.As
One specific example, mileage chart 122 can be by a part for the navigation application of navigation service provider offer, such as high definition
Clear map.Alternatively, mileage chart can obtain from database, for example, from be locally stored or addressable server on store
High-resolution map obtain.Additionally or alternatively, as described below, mileage chart 122 can be based on one on vehicle
Detection of individual or multiple sensors to surrounding environment generates.
Processor 11 can be such as CPU (CPU), Vehicle Controller (MCU), digital signal processor
Etc. (DSP) general processor, it is configured as realizing this paper institutes by performing the programmed instruction of storage in memory 12
The function of description it is part or all of.Additionally or alternatively, processor 11 can also include programmable hardware element, such as
Application specific integrated circuit (ASIC), field programmable gate array (FPGA) etc..
System 100 also includes one or more sensors 14.In certain embodiments, sensor 14 can include image biography
One or more of sensor 141, radar sensor 142, laser sensor 143, ultrasonic sensor 144.It is as mentioned above
Arrive, in embodiment of the disclosure, one or more sensors 14 can be used to generate mileage chart.For example, image sensing
Device 141 can be used for the image for obtaining the high-resolution of the surrounding environment of current vehicle position, and processor 11 can pass by image
The yardstick with the space of given shape and these spaces is identified in the image that sensor 141 captures.Yardstick can be by sky
Between borders, border is, for example, wall, roadblock, static object (such as parked vehicle), plant, curb or irrigation canals and ditches etc.
One or more of.It should be understood that the shape, the information of yardstick etc. required for generation mileage chart can also be by them
He obtains sensor (radar sensor 142, ultrasonic sensor 144 etc.)；Or mileage chart can be led to by processor 11
Cross in the data that sensor fusion techniques obtain from multiple sensors and generate.It is above-mentioned with being obtained from database or navigation application etc.
High-resolution map is compared, and the mileage chart generated by sensing data may have stronger real-time.
Input/output component 13 can include display 131, loudspeaker 132, microphone 133 etc..Such input/defeated
Go out part 13 and can be used for interacting between promotion system 100 and the driver of vehicle.Come for example, microphone 133 can receive
From the phonetic order (for example, phonetic order for turning around to be intended to of the instruction driver in embodiment of the disclosure) of driver；Raise
Sound device 132 can be used for providing verbal announcement to driver；Display 131 can be used for man-machine interface, the man-machine interface is presented
Various objects, including but not limited to figure, word, video, animation can be provided.In certain embodiments, display 131 can be with
It is touch-sensitive display, it can serve as both input block and output block.
System 100 also includes controlling organization 15.Controlling organization 15 can include being used for the course changing control for controlling Vehicular turn
Mechanism, and for controlling the braking of vehicle and the braking of E-Gas and E-Gas controlling organization, and/or for controlling car
Speed change speed changing control mechanism.
Fig. 2 shows the flow chart of the driving assistance method for vehicle in accordance with an embodiment of the present disclosure, wherein, this is driven
Sailing householder method 200 can perform in system 100 as shown in Figure 1.
In step 201, vehicle is detected to turn around to be intended to.
In some embodiments of the present disclosure, system 100 can detect car by the various input blocks shown in Fig. 1
Turn around be intended to.For example, the detection for turning around to be intended to can include receiving the activation command that turns around from the driver of vehicle.This turns around
Activation command can be the phonetic order by microphone input by driver, or be passed through by driver with the sensitive table of touch
The touching instruction of the display input in face, or the navigation button is pressed and caused command signal by driver.
In further embodiments, the detection for turning around to be intended to is also based on the route in navigation application to determine.For example,
If pointed to, the navigation way instruction vehicle of vehicle current destination should be turned around and the width of road compares activation threshold
It is narrow, then it can determine that vehicle turns around to be intended to.
In step 202, turn around to be intended in response to what is detected, evaluate turned around on the road in mileage chart can
Row.
Vehicle can be turned around in the space on relatively straight road, herein, have the sky of such shape
Between be properly termed as " straight band " space.Vehicle can also be turned around using some free spaces being distributed along road.It is such
One example of free space is the space to depression on the outside of road of road edge.Herein, there is such shape
Space is referred to as " T-shaped space " (reference picture 3b).
In embodiment of the disclosure, for different types of space, there is provided the different types of pattern that turns around, including U
The pattern that turns around that pattern and T-shaped are turned that turns around of z bend.
The T-shaped that the u turn that Fig. 3 a- Fig. 3 d show in straight carrying space is turned around in pattern and T-shaped space is turned the mould that turns around
Several examples of formula.If space is sufficiently wide, the first scope is greater than, then vehicle can be completed to turn around with a step, namely be not required to
Move forward and backward.On the other hand, it is, for example, less than the first scope if space is too narrow, then vehicle needs multiple steps to be fallen
Head, namely, it is necessary to repeatedly movable.Multistep turns around can be by realizing the step of varying number.Step number or step
Number can be by being simulated to determine based on the real-time detection to mileage chart, to the track turned around in the space.Show in Fig. 3 a
The schematic diagram of the 5 step u turn patterns for straight carrying space is gone out；Fig. 3 b show 3 steps in the T-shaped space for vehicle left side
The schematic diagram of T-shaped cornering mode, in fig 3b, vehicle forward travel enter in T-shaped space, and this cornering mode claims herein
For " head enters "；Fig. 3 c show the schematic diagram of the 3 step T-shaped cornering modes in the T-shaped space for vehicle right side, in figure 3 c,
During turning around, vehicle is poured into T-shaped space, and this cornering mode is referred to herein as " tail enters "；Fig. 3 d show that 5 step T-shaped turn
The schematic diagram of curved pattern.It should be appreciated that 3 steps or 5 step u turn patterns or T-shaped cornering mode that Fig. 3 a- Fig. 3 d are always shown are only
It is that multi-step turns around the example of pattern, and more or less steps can be performed to adapt to the actual size in space.
In one example, processor 11 by the space in mileage chart with given shape (for example, straight band or T-shaped are empty
Between) one or more yardsticks relatively judge the feasibility to be turned around in some space compared with corresponding limiting threshold value.
For example, being directed to some T-shaped space, one or more of yardsticks can include the depth and width in the T-shaped space；For straight band
Space, one or more of yardsticks are usually the width of road.Herein, the limiting threshold value can be able to ensure that completion is fallen
Head and the smallest dimension in given shape space for not colliding or scraping between border and vehicle.When one or more of space
When individual yardstick is less than corresponding limiting threshold value, it may be determined that carry out turning around to be infeasible within this space；When one or
When multiple yardsticks are more than or equal to corresponding limiting threshold value, it may be determined that carry out turning around to be feasible within this space.
It should be understood that the limiting threshold value in space may be with the size of vehicle in itself (for example, the length of vehicle, width
Deng) and vehicle performance parameter (for example, the power that can reach, steering angle) in itself it is relevant.Therefore, for different type
Vehicle, the limiting threshold value of the same space is probably different.It should also be understood that limiting threshold value has with the pattern to turn around
Close, for example, being directed to same vehicle, the limiting threshold value in the T-shaped space corresponding with 5 step T-shaped cornering modes in Fig. 3 d is typically small
Limiting threshold value in the T-shaped space corresponding with the T-shaped turning of 3 steps in Fig. 3 c.
In another example, processor 11 is turned to in the space with given shape by using the maximum of vehicle
Track of turning around is simulated to evaluate the feasibility to be turned around.If in simulation process, the track of vehicle and above-mentioned sky
Between various borders (curb, roadblock thing etc.) between without overlapping, it is determined that the opening position vehicle to turn around be feasible
's.
For multistep u turn pattern or multistep T-shaped cornering mode, step number can be by based on the real-time inspection to mileage chart
Survey, the track turned around in the space is simulated to calculate or optimize.How simulation can be will grasp with experienced driver
Make multistep u turn or multistep T-shaped turning similar mode is handled.Such as in fig. 3 a, analog track can have the
One forward operation, it is advanced until that vehicle reaches the border in space to the left in the case of steering locking angle.Then, analog track can
So that with the second back operation, it is retreated in the case of steering locking angle to the right until vehicle reaches another border in space.Repeatedly
Dai Di, analog track repeat the two operations until vehicle can complete U-shaped or T-shaped is turned, it means that walk the track of vehicle
Opposite direction has been arrived without the border overlay with space.In fig. 3 a, analog result is 5 steps.
Simulation is carried out to the track of turning around in space to be performed by following any or combination：It is big for (limiting threshold value)
In the T-shaped space of the first scope, the track turned around is simulated using a step T-shaped cornering mode；For less than the first model
The T-shaped space enclosed, the track turned around is simulated using multistep T-shaped cornering mode；It is empty for the T-shaped of the vehicle right side
Between, the T-shaped cornering mode that is entered using tail is simulated to the track turned around；For the T-shaped space of the vehicle left side, utilize
T-shaped cornering mode is simulated to the track turned around；For the straight carrying space more than the second scope, a step u turn is utilized
Pattern is simulated to the track turned around；And for the straight carrying space less than the second scope, utilize multistep u turn mould
Formula is simulated to the track turned around.
It described above is the feasibility assessment that turns around for the single space with given shape.In step 202, it is necessary to
For the road in mileage chart, the feasibility to be turned around is evaluated, mileage chart there may be multiple such spaces.In the disclosure
Embodiment in, mileage chart can include for present scope the first mileage chart.First mileage chart includes current to vehicle
The expression of environment near position.Additionally or alternatively, mileage chart can also be included for time in the past section or past distance
The second mileage chart, for example, second mileage chart includes the near roads environment run in 2 minutes before to vehicle
Represent, or including to vehicle the near roads environment run over before within 2 kms expression.In addition it is or alternative
Ground, mileage chart can also include the 3rd mileage chart for future time section or following distance.
In an instantiation procedure, first, determine to be turned around on current location for the first mileage chart feasible
Property.For example, processor 11 identifies the road with straight carrying space or T-shaped space on the first mileage chart, using described above
Feasibility assessment method be directed to the feasibility that these spaces determine the various patterns that turn around.Determined if based on the first mileage chart
Current location can not be turned around (for example, road width is narrow), then continuing with the second mileage chart and/or the 3rd mileage chart
Space determine the feasibility to be turned around.
In step 203, based on the feasibility evaluated, recommend to turn around pattern and/or the position turned around.
In certain embodiments, recommend to turn around pattern and/or the position turned around can include：Refer to vehicle driver
Show the position turned around and pattern.Have for example, system 100 can be exported by loudspeaker 132 with the pattern recommended and/or position
The acoustic information of pass.For example, when the T-shaped space with feasibility is determined in the 3rd mileage chart, system 100 can pass through
Loudspeaker indicates to the user that " there is the position that suitable 3 step T-shaped is turned on right side at 300 meters of front "；If in the second mileage chart really
The space with feasibility is determined, then system 100 can be with voice message user " please refund 50 meters to be turned around "；Or processing
Device can be visualized by display 131 to the pattern recommended and/or space, for example, being shown in man-machine interface suitable
Together in the position turned around and the turn around pattern corresponding with the position.Visualize and represent that detailed operation of turning around can be included
Track, the track can be identical or different with the track in the simulation in step 202.
In certain embodiments, after the position that the pattern of turning around is determined and/or is turned around, navigation way may be by
This changes.Therefore, method 200 can also include：Navigation way is updated based on the position turn around recommended.
In certain embodiments, the visualization track for the pattern that turns around recommended or sound instruction are being utilized come guiding vehicle
Driver after, method 200 can also include：Turning around for vehicle is controlled using controlling organization 15.Control vehicle turns around
It can include：Using course changing control mechanism come the steering based on the Schema control vehicle that turns around recommended, utilize braking and electronics
Throttle control mechanism come the braking based on the Schema control vehicle that turns around recommended and E-Gas and/or for based on vehicle and
Collision time or distance between roadblock, during turn around control for roadblock braking and using speed changing control mechanism come
Speed change based on the Schema control vehicle that turns around recommended.During turning around, system 100 can operate above-mentioned various controlling organizations
Some or all of 15.For example, drive assist system 100 can operate the steering of vehicle, while driver operates vehicle
Throttle and braking；Or steering, throttle and braking are all automatically performed by drive assist system.
According to some embodiments of the present disclosure, turn around to be intended to according to driver, for the various positions on road, perform
On the evaluation for the feasibility that turns around, and using as evaluation result turn around pattern and/or position is supplied to driver.This causes
Driver can correctly find suitable turn around position and mode.
Fig. 4 shows the schematic diagram of drive assist system 400 in accordance with an embodiment of the present disclosure.In Fig. 4, system 400
Including：Detection unit 41, evaluation unit 42 and recommendation unit 43.The system 400 can be by the drive assist system that is shown in Fig. 1
In various hardware, software or its combination realize.
Detection unit 41, which is configured as detecting vehicle, to be turned around to be intended to.
Detection unit 41 can detect vehicle in the following manner and turn around to be intended to：If navigation way need turn around but
The width of road is narrower than activation threshold, it is determined that turns around to be intended to.Additionally or alternatively, detection unit 41 can also be from vehicle
User receives and turns around activation command, thereby determines that vehicle turns around to be intended to.
What evaluation unit 42 was configured to respond to detect turns around to be intended to, and evaluates and is fallen on the road in mileage chart
The feasibility of head.
Herein, mileage chart includes the first mileage chart for present scope, and/or for time in the past section or past away from
From the second mileage chart, and/or the 3rd mileage chart for future time section or following distance；And mileage chart is based on utilization
It is that detection of one or more sensors to surrounding environment generates and/or being obtained from database, for example, from being locally stored or
The High Resolution Ground Map stored in addressable server obtains.
One or more sensors are from including imaging sensor, laser sensor, radar sensor and supersonic sensing
Selected in the set of device.
In certain embodiments, evaluation unit 42, which can be additionally configured to be directed in the mileage chart, has given shape
Space, evaluate the feasibility to turn around in the following manner：By one or more yardsticks in space and corresponding limiting threshold value phase
Compare；Turned to using maximum to be simulated to the track turned around in space；Wherein, the given shape include T-shaped and/or
Straight band.The yardstick in space by borders, border be, for example, wall, roadblock, static object (such as parked vehicle), plant,
One or more of curb or irrigation canals and ditches.
In certain embodiments, any one during evaluation unit 42 can be additionally configured in the following manner or combination
To be simulated to the track turned around：For the T-shaped space more than the first scope, using a step T-shaped cornering mode come to turning around
Track simulated；For the T-shaped space less than the first scope, the track turned around is entered using multistep T-shaped cornering mode
Row simulation；For the T-shaped space of vehicle right side, the T-shaped cornering mode entered using tail is simulated to the track turned around；For
The T-shaped space of vehicle left side, the T-shaped cornering mode that is entered using head are simulated to the track turned around；For more than the second model
The straight carrying space enclosed, the track turned around is simulated using a step u turn pattern；And for less than the second scope
Straight carrying space, the track turned around is simulated using multistep u turn pattern.
Recommendation unit 43 is configured as based on the feasibility evaluated the position recommending the pattern of turning around and/or turned around
Put.
Recommendation unit 43 can include one or more of following：Display, be configured as to the pattern recommended and/
Or position is visualized；Navigation system, it is configured as updating navigation way based on the position recommended；And loudspeaker,
It is configured as exporting the acoustic information relevant with the pattern recommended and/or position.
In addition, system 400 can also include accessory part 44.Accessory part 44 can be configured as aiding in vehicle to be fallen
Head.Accessory part 44 can include it is following in any one or combination：Man-machine interface, for utilizing the pattern that turns around recommended
Visualization track or sound instruction instruct the driver of the vehicle；Course changing control mechanism, for based on what is recommended
Head mould formula controls the steering of the vehicle；Braking and E-Gas controlling organization, for based on recommended turn around pattern come
Braking and the E-Gas of the vehicle are controlled, and/or is used for, and speed changing control mechanism, for being turned around based on what is recommended
Pattern controls the speed change of the vehicle.
In another aspect of the disclosure, a kind of vehicle is additionally provided, it includes above-mentioned drive assist system 400.
Example above only helps to promote understanding of this disclosure, without limiting the scope of the present disclosure.
It will be understood by those skilled in the art that the equipment that the unit in devices disclosed herein can be distributed in embodiment
In, and alternatively can also be located in one or more equipment different from those equipment in embodiment.Foregoing embodiments
Unit can be integrated into a unit or can be further divided into multiple subelements.
Although the combined most practical and preferred embodiment that is considered describes the disclosure, those skilled in the art
It should be understood that such limitation is not limited to the disclosed embodiments, and it is intended to cover included various arrangements, without
Deviation most widely understands scope, in order to cover all such modifications and equivalent arrangements.
Claims (12)
1. a kind of drive assist system for vehicle, including：
Detection unit, it is configured as detecting the vehicle and turns around to be intended to；
Evaluation unit, be configured to respond to detect turns around to be intended to, and evaluates what is turned around on the road in mileage chart
Feasibility；And
Recommendation unit, it is configured as recommending pattern and/or the position turned around based on the feasibility evaluated.
2. system according to claim 1, the mileage chart includes the first mileage chart for present scope, and/or pin
To time in the past section or the second mileage chart of distance, and/or the 3rd mileage chart for future time section or following distance in the past；
And the mileage chart is based on being generated using detection of one or more sensors to surrounding environment and/or obtain from database
Take.
3. system according to claim 2, one or more of sensors are from including imaging sensor, laser sensing
Selected in the set of device, radar sensor and ultrasonic sensor.
4. the system according to Claims 2 or 3, the evaluation unit, which is configured to be directed in the mileage chart, to be had
There is the space of given shape, evaluate the feasibility to turn around in the following manner：
One or more yardsticks in the space are compared with corresponding limiting threshold value；And/or
Turned to using maximum to be simulated to the track turned around in the space；
Wherein, the given shape includes T-shaped and/or straight band.
5. system according to claim 4, the yardstick in the space includes wall, road by borders, the border
Barrier, static object, plant, curb or irrigation canals and ditches.
6. system according to claim 4, the evaluation unit be configured as in the following manner in any one or
Combine to be simulated to the track turned around in the space：
For the T-shaped space more than the first scope, the track turned around is simulated using a step T-shaped cornering mode；
For the T-shaped space less than the first scope, the track turned around is simulated using multistep T-shaped cornering mode；
For the T-shaped space on the vehicle right side, the T-shaped cornering mode entered using tail is simulated to the track turned around；
For the T-shaped space in the vehicle left side, the T-shaped cornering mode entered using head is simulated to the track turned around；
For the straight carrying space more than the second scope, the track turned around is simulated using a step U rows cornering mode；And
For the straight carrying space less than the second scope, the track turned around is simulated using multistep u turn pattern.
7. system according to claim 6, the wherein step number of multistep T-shaped cornering mode or multistep u turn pattern pass through
Real-time detection based on the mileage chart, the track turned around is simulated to determine.
8. according to the system described in claim any one of 1-7, the recommendation unit includes one or more of following：
Display, is configured as the pattern to being recommended and/or position visualizes；
Navigation system, it is configured as updating navigation way based on the position recommended；And
Loudspeaker, it is configured as exporting the acoustic information relevant with the pattern recommended and/or position.
9. according to the system described in claim any one of 1-8, the detection unit is configured as in the following manner to detect
The vehicle turns around to be intended to：
If navigation way needs to turn around but the width of road is narrower than activation threshold, it is determined that turns around to be intended to；And/or
The activation command that turns around is received from the user of the vehicle.
10. according to the system described in claim any one of 1-9, in addition to accessory part, it is configured as aiding in the vehicle to enter
Turned around described in row, the accessory part include it is following in any one or combination：
Man-machine interface, driving for the vehicle is instructed for utilizing visualization track or the sound instruction of the pattern that turns around recommended
The person of sailing；
Course changing control mechanism, for turning around pattern based on what is recommended to control the steering of the vehicle；
Braking and E-Gas controlling organization, for turning around pattern based on what is recommended to control the braking of the vehicle and electronics
Throttle, and/or for based on the collision time or distance between the vehicle and roadblock, being controlled during described turn around and being directed to road
The braking of barrier, and
Speed changing control mechanism, for turning around pattern based on what is recommended to control the speed change of the vehicle.
11. a kind of vehicle, including the drive assist system any one of claim 1-10.
12. a kind of driving assistance method for vehicle, including：
The vehicle is detected to turn around to be intended to；
Turn around to be intended in response to what is detected, for the road in mileage chart, evaluate the feasibility to be turned around；And
Based on the feasibility evaluated, recommend pattern and/or the space turned around described in carrying out.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610617532.9A CN107662644A (en) | 2016-07-29 | 2016-07-29 | Vehicle for the drive assist system and method for vehicle and comprising the system |
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| CN201610617532.9A CN107662644A (en) | 2016-07-29 | 2016-07-29 | Vehicle for the drive assist system and method for vehicle and comprising the system |
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| CN201610617532.9A Pending CN107662644A (en) | 2016-07-29 | 2016-07-29 | Vehicle for the drive assist system and method for vehicle and comprising the system |
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