CN108032809A - The lateral auxiliary system of one kind reversing and its data fusion and control method - Google Patents
The lateral auxiliary system of one kind reversing and its data fusion and control method Download PDFInfo
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- CN108032809A CN108032809A CN201711077875.1A CN201711077875A CN108032809A CN 108032809 A CN108032809 A CN 108032809A CN 201711077875 A CN201711077875 A CN 201711077875A CN 108032809 A CN108032809 A CN 108032809A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses the lateral auxiliary system of one kind reversing, detection module including interconnection, control module, the detection module is detecting environmental information data and environmental information data are transferred to control module, including detecting in the environment of vehicle side rear the first detection device of target self information and to detect the second detection device of target relative information in the environment of vehicle side rear, the control module is receiving the environmental information data that detection module detects, Data Fusion is carried out with reference to vehicle sensor signal, and it is controlled according to the information after processing.The present invention both detected target self information by the first detection device, target relative information is detected further through second detection device, the environmental system database that is identified of extreme enrichment, easy to the calculating of controller, the lateral auxiliary system (RCTA) of reversing is enhanced to the perception of true environment, there is preferable robustness.
Description
Technical field
The present invention relates to field of automobile safety, especially a kind of move backward lateral auxiliary system and its data fusion and controlling party
Method.
Background technology
In recent years, as the increase of car ownership, traffic accident incidence are also growing day by day.Therefore, reversing is lateral
Auxiliary system (Rear Cross Traffic Alert-RCTA) shows important day, and the research and development for lateral auxiliary system of moving backward improve
Gradually it is subject to the people's attention.
Lateral auxiliary system of moving backward is that the target object of main rear view of vehicle is detected using sensor, and system is to entering
The target object (vehicle, bicycle, pedestrian) of alarm region is identified, follows the trail of, if having risk of collision, meeting with target object
Potential danger is reminded to driver, or even parking of stopping.
The lateral auxiliary system of reversing (RCTA) on the market is mainly based upon the environment sensing of millimetre-wave radar detection at present
Recognition mode：2 millimetre-wave radars for protecting both sides after vehicle constantly launch electromagnetic wave, and receive barrier and reflect
Signal, further by Radar Signal Processing module determine the information such as the orientation, angle, speed of target object.Main vehicle
In reversing process, the pre-impact time (TTC) is calculated according to the relative distance with target object, relative velocity, if pre-impact
When time (TTC) is less than 3s, there is provided enhanced alarm (visual alarm+audible alarm).If the pre-impact time (TTC) is less than 1s
When, system automatic braking, stops vehicle.When disappearing within alarm region without target or target, Alerts Off.
Lateral auxiliary system of moving backward (RCTA) just works only under the state of reversing gear, to static target without alarm.
The function for moving backward in congested area, and the visual field of driver due to building, when vegetation or other parked vehicles are blocked
Effect is obvious.
Due to moving backward at present, lateral auxiliary system (RCTA) is single-sensor recognition mode, can only provide the one of environment
Partial information, so there are some defects for some special operation conditions.Such as during vehicle backing, rear may have mobile small barrier
Hinder thing (such as people, pet) to be scurried out, radar may detect less than, it is impossible to and alarm, braking；Therefore single-sensor identification mould
The automatic Pilot scheme of formula can not inherently evade the risk of above-mentioned operating mode, so influence convenience that driver uses and
Comfort.
The content of the invention
The present invention provides a kind of move backward lateral auxiliary system and its data fusion and control method, it can pass through multisensor
Recognition mode, is more enriched accurate environmental information.
To achieve the above object, technical scheme is as follows：
One kind is moved backward lateral auxiliary system, including the detection module of interconnection, control module, the detection module to
Environmental information data are simultaneously transferred to control module by detection environmental information data, including to detect mesh in the environment of vehicle side rear
Mark the first detection device of self information and to detect second of target relative information in the environment of vehicle side rear the detection dress
Put, the control module is to receive the environmental information data that detection module detects, with reference to vehicle sensor signal into line number
It is controlled according to fusion treatment, and according to the information after processing.
Preferably, first detection device is the camera positioned at position of rear view mirror, and second detection device is positioned at car
The millimetre-wave radar system at side rear.
Preferably, in-car electronic curtain is further included, the real-time real scene image that the camera will detect, projects in-car
On electronic curtain.
Preferably, the data of the control module progress fusion treatment include the target figure detected to the first detection device
As data carry out the self information data after image recognition, and the relative information number of target that second detection device detects
According to including distance, speed and angle-data, distance, speed and the angle-data of self information data and target form target
Overall data.
Preferably, the data of the control module progress fusion treatment further include the speed information of ESP, are obtained by ACU
Vehicular yaw angle, by SAS obtain steering wheel angle, IPK user settings, by TCU obtain automobile gear level, according to car
Fast information and target overall data determine the relative bearing, relative distance, relative velocity of target and vehicle, according to passing through
The Vehicular yaw angle of ACU acquisitions, the steering wheel angle information obtained by SAS, calculate track and body gesture that vehicle is advanced,
According to IPK user settings, the automobile gear level obtained by TCU, speed information, whether the lateral auxiliary system that judges to move backward is in sharp
State living.
Preferably, the control module is controlled specially according to the information after processing：When goal satisfaction alert if
When, control module sends warning message to IPK, lights LED alarm lamp or sound prompting；When goal satisfaction braking condition, control
Molding block sends deceleration request signal and realizes braking to ESP, and BCM lights Brake lamp；When the vehicle is stopped, EPB takes over, vehicle
In parked state；When target is not in the alarm region of sensor detection, lateral auxiliary system of moving backward exits, alarm release.
A kind of data fusion and control method of lateral auxiliary system of moving backward, include the following steps：Detect environmental information number
According to, and environmental information data are transferred to control module, environmental information data include the self information number of vehicle side rear area target
According to this and the distance of vehicle side rear area target, speed and angle-data；The environmental information data are received, with reference to vehicle sensors
Signal carries out Data Fusion, and is controlled according to the information after processing.
Preferably, the self information is image information, and the progress Data Fusion includes carrying out image information
Image recognition, the self information data and the distance of target obtained after image recognition, speed and angle-data form the whole of target
Volume data.
Preferably, the data for carrying out fusion treatment further include speed information, the vehicle horizontal stroke obtained by ACU of ESP
Pivot angle, the steering wheel angle obtained by SAS, IPK user settings, the automobile gear level obtained by TCU, the progress data are melted
Closing processing includes determining relative bearing, relatively relative distance, the speed of target and vehicle according to speed information and target overall data
Information is spent, according to the Vehicular yaw angle obtained by ACU, the steering wheel angle information obtained by SAS, calculates what vehicle was advanced
Track and body gesture, according to IPK user settings, the automobile gear level obtained by TCU, speed information, judge that reversing is lateral auxiliary
Whether auxiliary system is active.
Preferably, the information according to after processing is controlled specially：When goal satisfaction alert if, mould is controlled
Block sends warning message to IPK, lights LED alarm lamp or sound prompting；When goal satisfaction braking condition, control module is sent
Deceleration request signal realizes and brakes that BCM lights Brake lamp to ESP；When the vehicle is stopped, EPB takes over, and vehicle is in parking shape
State；When target is not in the alarm region of sensor detection, lateral auxiliary system of moving backward exits, alarm release.
The beneficial effects of the invention are as follows：The present invention both detects target self information by the first detection device, further through the
Two detection devices detect target relative information, the environmental system database that is identified of extreme enrichment, easy to the calculating of controller,
The lateral auxiliary system (RCTA) of reversing is enhanced to the perception of true environment, there is preferable robustness.
Brief description of the drawings
Fig. 1 is the logic diagram of the lateral auxiliary system of reversing of the embodiment of the present invention.
Fig. 2 is the first detection device detects schematic diagram in the lateral auxiliary system of reversing shown in Fig. 1.
Fig. 3 is the lateral aid networks Organization Chart of reversing shown in Fig. 1.
Fig. 4 is the lateral auxiliary control system logic chart of reversing shown in Fig. 1.
Fig. 5 is millimetre-wave radar system detection results schematic diagram in the lateral auxiliary system of reversing shown in Fig. 1.
Fig. 6 is millimetre-wave radar system in the lateral auxiliary system of reversing shown in Fig. 1 in middle control large-size screen monitors or the display that comes back
Show image.
Embodiment
The present invention is described in detail below by way of specific and infinite embodiment, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art.
As shown in Figures 1 to 4, in the present embodiment, a kind of detection module of the lateral auxiliary system including interconnection of moving backward,
Control module.
Detection module is detecting environmental information data and environmental information data are transferred to control module, including to examine
Survey in the environment of vehicle side rear the first detection device of target self information and to detect target in the environment of vehicle side rear
The second detection device of relative information.Target self information can be type (such as automobile, pedestrian or bicycle), the shape of target
Deng.Target relative information is the information such as distance, speed and the angle of target.
In the present embodiment, the first detection device be positioned at position of rear view mirror camera, in-car both sides be additionally provided with it is corresponding
The in-car electronic curtain (camera forms Streaming Media external rearview mirror system with in-car electronic curtain) of camera connection, camera exists
While vehicle side rear environmental data (view data) detected is transferred to control module, the image that will also detect,
Real-time outdoor scene is projected on in-car electronic curtain.In this way, user can by in-car electronic curtain real time inspection side rear road conditions, come
Situations such as car, pedestrian, bicycle.Because camera is located at position of rear view mirror, after being clearly detected vehicle mirrors
The target conditions (such as Fig. 2) in three tracks are covered in side, and the small barrier even if side rear is scurried out suddenly, can also be quickly detected.When
So, in other embodiments, this vision inspection apparatus of camera can not also be used, but uses other detection modes (such as
Infrared thermal imaging) detect the self information of target.
In the present embodiment, second detection device is the millimetre-wave radar system positioned at vehicle side rear.Millimetre-wave radar system
System because using high frequency (77GHz) millimeter wave detection mode, can overcome ultrasonic wave operating distance in the case of bad environments it is short,
The features such as effect is unstable, the correct angle for identifying vehicle and surrounding objects, relative velocity, relative position information.Such as Fig. 5, Fig. 6
Target information shown, that radar system will also detect, is sent to middle control large-size screen monitors or new line by CAN and shows (HUD).Consider
The performance of radar, radar are protected the target object in the range of 70m, are detected, display area can be contained below B columns after adjusting the distance
Three tracks of lid；In view of network load rate, the present embodiment radar exports 6 target objects nearest from vehicle.As needed,
In other embodiments, other radar systems, or other detection devices that can detect target relative information can be used.
Control module is to receive the environmental information data that detection module detects, with reference to vehicle sensor signal into line number
It is controlled according to fusion treatment, and according to the information after processing.
In the present embodiment, control module mainly includes lateral assistant system controller (RCTA ECU), and RCTA ECU pass through
CAN bus (becomes with camera, millimetre-wave radar system and ESP (electronic stability unit), EPB (electronic parking unit), TCU
Fast case control unit), SAS (rotary angle transmitter), ACU (air bag control unit), IPK (instrument), BCM (Body Control lists
Member) connection.
The data that control module carries out fusion treatment include environmental information data, i.e., the target image detected to camera
Data carry out the self information data after image recognition, and the distance of the target that arrives of millimetre-wave radar system detectio, speed and
Distance, speed and the angle-data of angle-data, image recognition data and target form the overall data of target.
The data that control module carries out fusion treatment further include vehicle sensor signal data, speed information such as ESP, logical
Cross the Vehicular yaw angle of ACU acquisitions, the steering wheel angle obtained by SAS, IPK user settings, the vehicle shelves obtained by TCU
Position.During fusion treatment, can be determined according to speed information and target overall data the relative bearing of target and vehicle, relative distance,
Relative velocity, according to the Vehicular yaw angle obtained by ACU, the steering wheel angle information obtained by SAS, calculates vehicle
The track of traveling and body gesture, according to IPK user settings, the automobile gear level obtained by TCU, speed information, judge to move backward
Whether lateral auxiliary system is active.
In the present embodiment, control module is controlled specially according to the information after processing：When goal satisfaction alert if
When (such as the pre-impact time is less than 3s), control module sends warning message to IPK, lights LED alarm lamp or sound prompting；Work as mesh
When mark meets braking condition (such as the pre-impact time is less than 1s), control module sends deceleration request signal and realizes braking to ESP,
BCM lights Brake lamp；When the vehicle is stopped, EPB takes over, and vehicle is in parked state；When target is not in the report of sensor detection
In police region domain, lateral auxiliary system of moving backward exits, alarm release.
Because it detected the self information (particularly type) of target by the first detection device, it is possible to more section
Learn, more reliably set alert and if braking condition.For example, if target is vehicle, then it is contemplated that the strain feelings of target
Condition, alert if can be set to slightly wider pine with braking condition, and if target is pedestrian, consider that it is dangerous, alarm
Condition should be set to strictly with braking condition.
The data fusion and control method of the lateral auxiliary system of the present embodiment reversing, include the following steps：
Step 1, environmental information data are detected, and environmental information data are transferred to control module, environmental information data packet
Include the self information data of vehicle side rear area target and distance, speed and the angle-data of vehicle side rear area target；
Step 2, environment information data is received, Data Fusion is carried out with reference to vehicle sensor signal, and according to processing
Information afterwards is controlled.
In the present embodiment, self information is image information, carry out Data Fusion data include to image information into
The self information data and distance, speed and the angle-data of target obtained after row image recognition, both form the entirety of target
Data.
The data for carrying out fusion treatment further include vehicle sensor signal data, and speed information such as ESP, obtained by ACU
The Vehicular yaw angle taken, the steering wheel angle, IPK user settings, the automobile gear level obtained by TCU that are obtained by SAS.
Carrying out Data Fusion is specially：The opposite of target and vehicle is determined according to speed information and target overall data
Orientation, relative distance, relative velocity, turn according to the Vehicular yaw angle obtained by ACU, the steering wheel obtained by SAS
Angle information, calculates track and body gesture that vehicle is advanced, according to IPK user settings, the automobile gear level obtained by TCU, car
Whether fast information, the lateral auxiliary system that judges to move backward are active.
In the present embodiment, it is controlled specially according to the information after processing：When goal satisfaction alert if, mould is controlled
Block sends warning message to IPK, lights LED alarm lamp or sound prompting；When goal satisfaction braking condition, control module is sent
Deceleration request signal realizes and brakes that BCM lights Brake lamp to ESP；When the vehicle is stopped, EPB takes over, and vehicle is in parking shape
State；When target is not in the alarm region of sensor detection, lateral auxiliary system of moving backward exits, alarm release.
Certainly, those skilled in the art, can be as needed by being described above, to Data Fusion and according to place
Information after reason be controlled and etc. particular content suitably adjusted.
Compared with existing single-sensor recognition mode, the present embodiment is using Fusion and controls, both
Target self information is detected by the first detection device, target relative information is detected further through second detection device, especially at this
In embodiment, the image identification function of camera can be utilized again using the accurate distance measurement advantage of radar, the two has complementary advantages,
The environmental system database that is identified of extreme enrichment, easy to the calculating of controller, enhances the lateral auxiliary system of reversing
(RCTA) to the perception of true environment, there is preferable robustness.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
- The lateral auxiliary system 1. one kind is moved backward, it is characterised in that detection module, control module including interconnection, the inspection Module is surveyed to detect environmental information data and environmental information data are transferred to control module, including to detect vehicle side after First detection device of target self information and to detect target relative information in the environment of vehicle side rear in square environment Second detection device, the control module is to receive the environmental information data that detection module detects, with reference to vehicle sensors Signal carries out Data Fusion, and is controlled according to the information after processing.
- 2. one kind is moved backward lateral auxiliary system as claimed in claim 1, it is characterised in that first detection device be positioned at The camera of position of rear view mirror, second detection device are the millimetre-wave radar system positioned at vehicle side rear.
- The lateral auxiliary system 3. one kind is moved backward as claimed in claim 2, it is characterised in that further include in-car electronic curtain, institute The real-time real scene image that camera will detect is stated, is projected on in-car electronic curtain.
- The lateral auxiliary system 4. one kind is moved backward as claimed in claim 1, it is characterised in that the control module is carried out at fusion The destination image data that the data of reason include detecting the first detection device carries out the self information data after image recognition, with And the relative information data of target that second detection device detects, including distance, speed and angle-data, self information data The overall data of target is formed with the distance, speed and angle-data of target.
- The lateral auxiliary system 5. one kind is moved backward as claimed in claim 4, it is characterised in that the control module is carried out at fusion The data of reason further include ESP speed information, by ACU obtain Vehicular yaw angle, by SAS obtain steering wheel angle, IPK user settings, the automobile gear level obtained by TCU, target and vehicle are determined according to speed information and target overall data Relative bearing, relative distance, relative velocity, according to the Vehicular yaw angle obtained by ACU, the direction obtained by SAS Disk corner information, calculates track and body gesture that vehicle is advanced, according to IPK user settings, the vehicle shelves obtained by TCU Whether position, speed information, the lateral auxiliary system that judges to move backward are active.
- The lateral auxiliary system 6. one kind is moved backward as claimed in claim 1, it is characterised in that after the control module is according to processing Information be controlled specially：When goal satisfaction alert if, control module sends warning message to IPK, lights LED reports Warning lamp or sound prompting；When goal satisfaction braking condition, control module sends deceleration request signal and realizes braking to ESP, BCM lights Brake lamp；When the vehicle is stopped, EPB takes over, and vehicle is in parked state；When target is not in the report of sensor detection In police region domain, lateral auxiliary system of moving backward exits, alarm release.
- 7. a kind of data fusion and control method of lateral auxiliary system of moving backward, it is characterised in that include the following steps：Detect ring Border information data, and environmental information data are transferred to control module, environmental information data include oneself of vehicle side rear area target The distance of body information data and vehicle side rear area target, speed and angle-data；The environmental information data are received, with reference to car Sensor signal carries out Data Fusion, and is controlled according to the information after processing.
- 8. one kind is the method for claim 7, it is characterised in that the self information is image information, described into line number Include carrying out image information image recognition according to fusion treatment, the self information data obtained after image recognition and target away from From the overall data that, speed and angle-data form target.
- A kind of 9. method as claimed in claim 8, it is characterised in that the data for carrying out fusion treatment further include ESP's Speed information, the Vehicular yaw angle obtained by ACU, the steering wheel angle obtained by SAS, IPK user settings, pass through TCU The automobile gear level of acquisition, the progress Data Fusion include determining target and car according to speed information and target overall data Relative bearing, relative distance, relative velocity, according to the Vehicular yaw angle obtained by ACU, pass through SAS obtain Steering wheel angle information, calculates track and body gesture that vehicle is advanced, according to IPK user settings, the vehicle obtained by TCU Whether gear, speed information, the lateral auxiliary system that judges to move backward are active.
- A kind of 10. method as claimed in claim 6, it is characterised in that the information according to after processing is controlled specifically For：When goal satisfaction alert if, control module sends warning message to IPK, lights LED alarm lamp or sound prompting；When During goal satisfaction braking condition, control module sends deceleration request signal and realizes braking to ESP, and BCM lights Brake lamp；Work as car When stopping, EPB adapters, vehicle is in parked state；When target is not in the alarm region of sensor detection, reversing is lateral auxiliary Auxiliary system exits, alarm release.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711077875.1A CN108032809B (en) | 2017-11-06 | 2017-11-06 | Reverse side auxiliary system and data fusion and control method thereof |
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| CN201711077875.1A CN108032809B (en) | 2017-11-06 | 2017-11-06 | Reverse side auxiliary system and data fusion and control method thereof |
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| CN108032809A true CN108032809A (en) | 2018-05-15 |
| CN108032809B CN108032809B (en) | 2020-02-21 |
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| CN110356325A (en) * | 2019-09-04 | 2019-10-22 | 魔视智能科技(上海)有限公司 | A kind of urban transportation passenger stock blind area early warning system |
| CN111341148A (en) * | 2018-11-30 | 2020-06-26 | 采埃孚主动安全股份有限公司 | Control system and control method for a motor vehicle for processing multiple reflection signals |
| CN113276846A (en) * | 2021-05-25 | 2021-08-20 | 华域汽车系统股份有限公司 | Rear cross traffic alarm system and method |
| CN113415279A (en) * | 2021-06-24 | 2021-09-21 | 东风汽车集团股份有限公司 | Vehicle reversing assisting method and system and vehicle |
| CN114919548A (en) * | 2022-04-27 | 2022-08-19 | 一汽奔腾轿车有限公司 | Adaptive braking control method based on millimeter wave radar |
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| CN114919548B (en) * | 2022-04-27 | 2023-10-20 | 一汽奔腾轿车有限公司 | Adaptive braking control method based on millimeter wave radar |
| CN115512571A (en) * | 2022-09-28 | 2022-12-23 | 上汽通用五菱汽车股份有限公司 | Backing environment monitoring method, device, equipment and storage medium |
| CN115512571B (en) * | 2022-09-28 | 2023-12-19 | 上汽通用五菱汽车股份有限公司 | Reversing environment monitoring method, device, equipment and storage medium |
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