CN108545115A - The lateral avoiding collision of vehicle and system - Google Patents
The lateral avoiding collision of vehicle and system Download PDFInfo
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- CN108545115A CN108545115A CN201810545827.9A CN201810545827A CN108545115A CN 108545115 A CN108545115 A CN 108545115A CN 201810545827 A CN201810545827 A CN 201810545827A CN 108545115 A CN108545115 A CN 108545115A
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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
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
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Abstract
A kind of lateral avoiding collision of vehicle of offer of the embodiment of the present invention and system, this method include：If Vehicular turn is known in judgement, positioned at the target danger zone of side portion of vehicle when the vehicle parameter based on vehicle calculates Vehicular turn；If judgement knows in target danger zone that there are barriers carries out corresponding anti-collision early warning measure according to the distance between barrier and vehicle.If the embodiment of the present invention knows Vehicular turn by judging, positioned at the target danger zone of side portion of vehicle when the vehicle parameter based on vehicle calculates Vehicular turn；If judgement knows in target danger zone that there are barriers carries out corresponding anti-collision early warning measure according to the distance between barrier and vehicle.Since target danger zone is the region that vehicle may pass through when turning to, therefore, by judging whether there are obstacles in target danger zone, collision obstacle during Vehicular turn can be avoided, it realizes Lateral Collision Avoidance when Vehicular turn, effectively improves vehicle drive safety.
Description
Technical field
The present embodiments relate to technical field of vehicle, more particularly, to a kind of lateral avoiding collision of vehicle and system.
Background technology
With the continuous improvement of rapid development of economy and living standard, vehicle is on the increase, road traffic accident
Incidence also increases.Currently, Road Traffic Injury has been included in the ten big causes of the death before the whole world and 15~29 years old crowd is dead
Main cause is based on this, and traffic safety problem should not be underestimated.Traffic safety problem is generally focused on following side
Face：Head-on crash, side collision knock into the back and roll.It is shown according to related data, the traffic safety problem caused by side collision accounts for
The ratio of whole traffic safety problems is higher, and especially during Vehicular turn, side collision is especially common.But phase
It is usually more to the research for preventing vehicle frontal collision in the technology of pass, therefore, side when there is an urgent need for a kind of for Vehicular turn at present
Face avoiding collision.
Invention content
To solve the above-mentioned problems, the embodiment of the present invention provides one kind and overcoming the above problem or solve at least partly
State a kind of lateral avoiding collision of vehicle and system of problem.
According to a first aspect of the embodiments of the present invention, a kind of lateral avoiding collision of vehicle is provided, this method includes：
If judging to know Vehicular turn, positioned at the mesh of side portion of vehicle when vehicle parameter based on vehicle calculates Vehicular turn
Mark danger zone；
If judgement knows that there are barriers in target danger zone, according to the distance between barrier and vehicle, progress
Corresponding anti-collision early warning measure
Method provided in an embodiment of the present invention, if by judging to know Vehicular turn, the vehicle parameter meter based on vehicle
Positioned at the target danger zone of side portion of vehicle when calculating Vehicular turn；If judgement is known in target danger zone there are barrier,
According to the distance between barrier and vehicle, corresponding anti-collision early warning measure is carried out.Since target danger zone is vehicle when turning to
Therefore the region that may pass through by judging whether there are obstacles in target danger zone, can avoid Vehicular turn mistake
Collision obstacle in journey realizes Lateral Collision Avoidance when Vehicular turn, effectively improves vehicle drive safety.
Second aspect according to embodiments of the present invention, provides a kind of lateral anti-collision system of vehicle, which includes：Sense mould
Block, control module and alarm module；Sensing module is connect with control module, and control module is connect with alarm module；
Sensing module is used to detect the vehicle parameter of vehicle, and vehicle parameter is sent to control module；
If control module knows Vehicular turn for judging, the vehicle parameter based on vehicle is located at when calculating Vehicular turn
The target danger zone of side portion of vehicle；And if judging to know in target danger zone there are barrier, according to barrier with
The distance between vehicle generates anti-collision early warning signal, and anti-collision early warning signal is sent to alarm module；
Alarm module is used to carry out anti-collision early warning measure according to anti-collision early warning signal.
According to a third aspect of the embodiments of the present invention, a kind of lateral anticollision gear of vehicle is provided, including：
At least one processor；And
At least one processor being connect with processor communication, wherein：
Memory is stored with the program instruction that can be executed by processor, and the instruction of processor caller is able to carry out first party
The lateral avoiding collision of vehicle that any possible realization method is provided in the various possible realization methods in face.
According to a fourth aspect of the embodiments of the present invention, a kind of non-transient computer readable storage medium is provided, it is non-transient
Computer-readable recording medium storage computer instruction, computer instruction make the various possible realities of computer execution first aspect
The lateral avoiding collision of vehicle that any possible realization method is provided in existing mode.
It should be understood that above general description and following detailed description is exemplary and explanatory, it can not
Limit the embodiment of the present invention.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 is the flow diagram of the lateral avoiding collision of vehicle of the embodiment of the present invention；
Fig. 2 is the radar cross bearing schematic diagram of the lateral avoiding collision of vehicle of the embodiment of the present invention；
Fig. 3 is the real-time steering danger zone boundary schematic diagram of the lateral avoiding collision of vehicle of the embodiment of the present invention；
Fig. 4 is the pre- steering danger zone boundary schematic diagram of the lateral avoiding collision of vehicle of the embodiment of the present invention；
Fig. 5 is the flow diagram of the lateral avoiding collision of vehicle of another embodiment of the present invention；
Whether Fig. 6 is the disturbance in judgement object of the lateral avoiding collision of vehicle of the embodiment of the present invention in target danger zone
The flow diagram of method；
Fig. 7 is the structural schematic diagram of the lateral anti-collision system of vehicle provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram for the lateral anti-collision system of vehicle that another embodiment of the present invention provides；
Fig. 9 is the structural schematic diagram of the lateral anticollision gear of vehicle provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution in the embodiment of the present invention is explicitly described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
The every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
With traffic safety Frequent Accidents, in traffic accidents, widely applied monomer-type vehicle is caused
Traffic accident account for it is relatively high.In the reason of causing traffic accident, lubrication groove difference when monomer-type Vehicular turn and lateral blind area
It is the main reason for leading to traffic accidents.Based on this, the embodiment of the present invention provides a kind of lateral avoiding collision of vehicle and is
System can be applied to vehicle, can determine the danger zone of side portion of vehicle in the steering procedure of vehicle, and take corresponding anti-
Forewarning Measures are hit, to play the role of finding in time dangerous and avoid collision, improve the lateral peace of vehicle in the process of moving
Quan Xing.Referring to Fig. 1, the embodiment of the present invention provides a kind of lateral avoiding collision of vehicle, including：
If 101, judging to know Vehicular turn, the vehicle parameter based on vehicle is located at side portion of vehicle when calculating Vehicular turn
Target danger zone.
Wherein, judge whether vehicle turns to a variety of methods that can be used, such as rotation angular sensing is set on the steering wheel of vehicle
Device, so as to using rotary angle transmitter detection driver whether steering wheel rotation, the embodiment of the present invention is to judging vehicle
The method of no steering is not construed as limiting.When the vehicle is turning, at least one during the side of vehicle includes on the outside of turning to inside and turning to
Side.Target danger zone is region predicted based on vehicle parameter, that vehicle may pass through in steering procedure.Cause
This, if there are barrier in target danger zone, vehicle may bump against the barrier in steering procedure, cause to hit and endanger
Danger.It should be noted that target danger zone includes at least the vision dead zone of driver.
If 102, judging to know in target danger zone there are barrier, according to the distance between barrier and vehicle,
Carry out corresponding anti-collision early warning measure.
Wherein, based on the target danger zone obtained in step 101, in order to judge to whether there is obstacle in target area
Object, then should acquired disturbance object location information.The embodiment of the present invention does not limit the mode of the location information of acquired disturbance object
It is fixed, it is including but not limited to following by the way of station keeping radar.Referring specifically to Fig. 2 by the way of station keeping radar, in vehicle vehicle
A radar is respectively set in the chassis quadrangle of body, and can suitably increase radar quantity in the middle part of vehicle body according to automobile body length.
In the case of 4 radars, it is 90 degree that scanning angle, which can be arranged, in each radar, to which 4 radars can scan vehicle two
The all areas of a side.Certain scanning distance, such as 50 meters can be arranged in radar, and the embodiment of the present invention does not limit this
It is fixed.Before the location information by radar acquired disturbance object, coordinate system can be first established, the x-axis of coordinate system can be along Vehicular turn
The vehicle body of inside, y-axis is vertical with x-axis and passes through vehicle rear wheel axis.Under this coordinate system, by taking vehicle is turned right as an example, it can pass through
Radar C and D measurement obtains the line distance apart from barrier, and line distance is then projected to x-axis and y-axis, you can to obtain
Coordinate (x, y) of the barrier under this coordinate system.The specific calculation of the coordinate is as follows：
In formula, m is length of wagon, and c and d are respectively the line distance for turning to inside two radars and barrier, and p is vehicle
Rear overhang distance.
The coordinate of barrier is the location information of barrier.After the location information of acquired disturbance object, obstacle can be based on
Whether the location information disturbance in judgement object of object is in target danger zone.If barrier not inside target disorders region,
Show not collide the danger of the barrier when Vehicular turn.If barrier shows vehicle inside target disorders region
There is the danger for colliding the barrier when steering, in the case, in order to avoid collision, anti-collision early warning measure can be carried out, to avoid
Vehicle collision barrier.Specifically, anti-collision early warning measure can have different grades, can be according between barrier and vehicle
Distance accordingly selects different grades of anti-collision early warning measure.For example, when distance is smaller, high-grade anti-collision early warning can be used and arrange
It applies, to make vehicle stop as soon as possible.And when the distance is greater, the anti-collision early warning measure of inferior grade can be used, vehicle can be made
It stops within certain period.
Method provided in an embodiment of the present invention, if by judging to know Vehicular turn, the vehicle parameter meter based on vehicle
Positioned at the target danger zone of side portion of vehicle when calculating Vehicular turn；If judgement is known in target danger zone there are barrier,
According to the distance between barrier and vehicle, corresponding anti-collision early warning measure is carried out.Since target danger zone is vehicle when turning to
Therefore the region that may pass through by judging whether there are obstacles in target danger zone, can avoid Vehicular turn mistake
Collision obstacle in journey realizes Lateral Collision Avoidance when Vehicular turn, effectively improves vehicle drive safety.
Vehicular turn may include two kinds of situations：It turns to and turns in advance in real time.Wherein, it is that vehicle is currently turning to turn in real time
To.Confirm whether vehicle is that real-time turn to specifically can be by rotary angle transmitter, if for example, being set to the rotation angular sensing of steering wheel
Device detects corner, then is confirmed as turning in real time.Wherein, pre- turn to is that vehicle does not turn to also currently, but predicts that vehicle will turn
To.Confirm that pre- turn to specifically can be by steering indicating light, if for example, steering indicating light is being opened, and above-mentioned rotary angle transmitter is not examined
Steering wheel angle is measured, then can confirm that vehicle turns in advance.For the above-mentioned situation turned in real time and based in above-described embodiment
Hold, it includes turning in real time to turn to, and vehicle parameter includes the first car body parameter and wheel steering angle, as a kind of alternative embodiment, needle
To turning in real time, provide when a kind of vehicle parameter based on vehicle calculates Vehicular turn positioned at the target danger zone of side portion of vehicle
Method, including but not limited to：
According to the first car body parameter and wheel steering angle, calculate separately positioned at the first danger zone boundary of side portion of vehicle and
Two danger zones boundary form the first danger zone between the first danger zone boundary and the first side of corresponding vehicle, the
The second danger zone is formed between two danger zones boundary and the second side of corresponding vehicle, target danger zone includes first
Danger zone and the second danger zone.
Specifically, referring to Fig. 3, the first car body parameter includes wheelbase, vehicle rear overhang distance and vehicle width, front wheel angle
It can be obtained by steering wheel angle and gear ratio calculation.Since vehicle is to turn to side, i.e. the first side and the when turning to
A steering inside for vehicle in two sides, another is steering outside.Below using the first side as the left side of vehicle, the
Two sides are the right side of vehicle, and the first side is to turn to inside, and the second side is the first danger zone side for turning to outside
Boundary and the second danger zone boundary can specifically pass through following function representation：
In formula, l is vehicle wheelbase, and p is vehicle rear overhang length, and n is body width, and α is front wheel angle, y1(x1) it is first
Danger zone boundary, y2(x2) it is the second danger zone boundary.
It is understood that y1(x1) and y2(x2) two curves in coordinate system are considered as, it is respectively used to expression first
Danger zone boundary and the second danger zone boundary.y1(x1) region between x-axis (i.e. the first side or turn to inside) is the
One danger zone (filling region in such as Fig. 3), y2(x2) the second side or turn to outside between region be the second danger area
Domain (another filling region in such as Fig. 3).Based on this, whether disturbance in judgement object can be found in Fig. 6, obstacle in target danger zone
It is poor that the y-coordinate of the y-coordinate of object and the danger zone boundary function corresponding to barrier x coordinate is made.If difference is more than 0, obstacle
Object is in target danger zone, otherwise in target danger zone.
It should be noted that these are only using the first side as the left side of vehicle, the second side is the right side of vehicle, and the
One side is to turn to inside, and the second side be the explanation that carries out for the steerings situation for turning to outside, when for other steering feelings
When condition, it can equally be based on above-mentioned function and obtain danger zone boundary, details are not described herein for the embodiment of the present invention.
Method provided in an embodiment of the present invention, by according to the first car body parameter and wheel steering angle, calculating separately positioned at vehicle
The the first danger zone boundary and the second danger zone boundary of side, and it is based on the first danger zone boundary and the second danger area
Domain boundary obtains target danger zone.Target when due to being turned in real time using wheel steering angle and the first car body gain of parameter vehicle
Danger zone, collision obstacle when to avoid vehicle from turning in real time.
Situation for above-mentioned pre- steering and based on the content of above-described embodiment, turn to include it is pre- turn to, vehicle parameter packet
The second car body parameter and turning radius are included, as a kind of alternative embodiment, provides a kind of vehicle parameter calculating vehicle based on vehicle
Turn to when positioned at the target danger zone of side portion of vehicle method, including but not limited to：
According to the second car body parameter and turning radius, calculates positioned at the third danger zone boundary of side portion of vehicle, turn to half
Diameter is determined by the location information of vehicle, and third danger zone is formed between the steering inside of third danger zone boundary and vehicle,
Target danger zone includes third danger zone.
Specifically, the second car body parameter includes vehicle rear overhang distance and vehicle width.Turning radius is vehicle rear axle midpoint
There is the road speed limit of radius when steering, turning radius and road residing for vehicle correspondence, corresponding pipeline to specifically refer to
The following table 1 obtains, and the embodiment of the present invention is not construed as limiting this.
The relation table of table 1 road speed limit and turning radius
Road speed limit can specifically obtain the location information of vehicle by the GPS positioning system being set in vehicle, be based on vehicle
Location information obtain corresponding road speed limit, to according to road speed limit and upper table 1, obtain turning radius.Referring to Fig. 4,
If vehicle turns right, vehicle right side is steering inside, then, third danger zone boundary can pass through following function representation：
In formula, p is vehicle rear overhang length, and n is body width, r0For turning radius, yi(xi) it is third danger zone side
Boundary.
It is understood that yi(xi) it is considered as a curve in coordinate system, for indicating three danger zone boundaries.
yi(xi) region between x-axis (turn to inside) is third danger zone (filling region in such as Fig. 4).It should illustrate
It is, it is above only to be illustrated for turning to inside as the steering situation of vehicle right side, when turning to situation for others, equally
It can be indicated based on above-mentioned function pair danger zone boundary, details are not described herein for the embodiment of the present invention.With above-described embodiment
Identical, whether disturbance in judgement object can be found in Fig. 6 in target danger zone, and details are not described herein.
Method provided in an embodiment of the present invention, by according to the second car body parameter and turning radius, calculating and being located at vehicle side
The third danger zone boundary in portion, and target danger zone is obtained based on third danger zone boundary.Due to utilizing wheel steering angle
And second target danger zone of car body gain of parameter vehicle when turning in advance, to just realize risk of collision before Vehicular turn
Prediction, makes driver have more reaction time, is conducive to avoid side collision.
By disturbance in judgement object whether in target danger zone, it can ensure when barrier is in target danger zone
When, anti-collision early warning measure is carried out, the side collision of vehicle is avoided.But when barrier is located at the danger area of target danger zone
Domain boundary or it is very close apart from danger zone boundary when, since barrier is not in target danger zone, can not detect
To the barrier, if but Vehicular turn pass through from the danger zone boundary of target danger zone, vehicle still may collide
The barrier.Therefore, in order to indicate vehicle turn to when by being turned in target danger zone, based in above-described embodiment
Hold, it, can as one kind when the vehicle parameter based on vehicle calculates Vehicular turn after the target danger zone of side portion of vehicle
Embodiment is selected, provides a kind of method of instruction turn inside diameter, including but not limited to：According to the danger zone side of target danger zone
Boundary, is calculated maximum steering wheel angle, and maximum steering wheel angle is used to indicate the maximum angle for allowing direction disc spins.
Specifically, it can be assumed that barrier is just at danger zone boundary, wherein danger zone boundary includes at least upper
State at least one of the first danger zone boundary, the second danger zone boundary and first danger zone boundary.Utilize inverse function
Maximum wheel corner (the maximum wheel corner currently allowed) at this time is released, releasing maximum steering wheel further according to transmission ratio turns
Angle, specifically can be by with minor function：
In formula, for maximum steering wheel angle, (x, y) is danger zone boundary.
Method provided in an embodiment of the present invention is calculated most by the danger zone boundary according to target danger zone
General orientation disk corner.Maximum steering wheel angle when can indicate that driver turns to due to maximum steering wheel angle, avoids
Vehicle is driven out to the target danger zone by detection, ensures laterally security when Vehicular turn.
It is provided a kind of according between barrier and vehicle as a kind of alternative embodiment based on the content of above-mentioned implementation
Distance, the method for carrying out corresponding anti-collision early warning measure, including but not limited to：According to the distance between barrier and vehicle and vehicle
Running speed prediction vehicle contact barrier needed for prediction duration, and react braking duration by predict duration and setting
It is compared；If judgement knows that prediction duration is less than reaction braking duration, carries out high frequency alarm and/or slow down to vehicle
Braking；If predicting, duration brakes duration not less than reaction, according to prediction duration and reacts the duration difference between braking duration
A point degree is carried out to alarm.
Specifically, if judging, there are barriers in target danger zone, estimate required for side portion of vehicle contact barrier
Duration t, and react braking duration t with preset driver0It compares.If t<t0, can directly abrupt deceleration vehicle to keep away
Exempt to have little time reaction due to driver and caused by the vehicle direct collision barrier, or high frequency use to alarm to cause rapidly
Driver's note that make driver based on to high frequency alarm generate natural reaction and active brake vehicle.It should be noted that
Emergency braking and high frequency can be used to alarm simultaneously.If t>t0, then it is anti-to show that driver has enough durations to carry out barrier
It answers, therefore a point mode for degree alarm can be used and remind driver side that there are barriers.Divide degree alarm for according to t and t0It
Between duration difference, the different alarm measure of urgency level is carried out, for example, when duration difference is larger, when driver has enough
Between when reacting, low frequency alarm can be carried out.
Method provided in an embodiment of the present invention, by being predicted needed for vehicle contact barrier according to the running speed of vehicle
It predicts duration, and will predict that duration is compared with the reaction of setting braking duration；If prediction is known in judgement, duration is less than reaction
Duration is braked, then carry out high frequency alarm and/or retarding braking is carried out to vehicle；If predicting, duration brakes duration not less than reaction,
Then a point degree is carried out according to duration difference to alarm.Due to being compared by will predict that duration is braked in duration and the reaction of setting,
The anti-collision early warning measure that different urgency levels are taken according to comparison result in all cases prevents side portion of vehicle with realizing
It hits.
Content based on above-described embodiment carries out high frequency alarm and/or right if prediction duration is less than reaction braking duration
After vehicle carries out retarding braking, as a kind of alternative embodiment, a kind of method of vehicle restarting is provided, including but unlimited
In：If judgement knows that vehicle has stopped, carrying out intermediate frequency alarm and/or carry out evacuation prompting in outside vehicle, until vehicle weight
It is new to start.Specifically, if having taken high frequency alarm and/or retarding braking measure, detect whether vehicle stops at this time, if not stopping
Only, then detection next time, i.e. return to step 101 are returned to.If vehicle has stopped, intermediate frequency alarm is carried out, is reminded outside vehicle
Vehicle pays attention to avoiding.If vehicle is again started up, detection next time, i.e. return to step 101 will be carried out.The embodiment of the present invention provides
Method, if by judge know that vehicle has stopped, carrying out intermediate frequency alarm and/or carry out evacuation prompting in outside vehicle, directly
It is restarted to vehicle.Since vehicle is since emergent stopping, driver have needed to plan again after high frequency alarm or retarding braking
Driving route simultaneously restarts, and therefore, influences other vehicles by carrying out evacuation prompting in outside vehicle to avoid vehicle.
Content based on above-described embodiment, an embodiment of the present invention provides a kind of lateral anti-collision system of vehicle, the vehicle sides
It is used to execute the lateral avoiding collision of vehicle in above method embodiment to anti-collision system.Referring to Fig. 7, which includes：Sensing
Module 701, control module 702 and alarm module 703；Sensing module 701 is connect with control module 702, control module 702 and police
Show that module 703 connects；Sensing module 701 is used to detect the vehicle parameter of vehicle, and vehicle parameter is sent to control module；Control
If molding block 702 knows Vehicular turn for judging, the vehicle parameter based on vehicle is located at vehicle side when calculating Vehicular turn
The target danger zone in portion；And if judging to know in target danger zone there are barrier, according to barrier and vehicle it
Between distance generate anti-collision early warning signal, and anti-collision early warning signal is sent to alarm module；Alarm module 703 is used for according to anti-
It hits pre-warning signal and carries out anti-collision early warning measure.
Wherein, control module 702 judges whether vehicle turns to a variety of methods that can be used, such as is set on the steering wheel of vehicle
Set rotary angle transmitter, so as to using the rotary angle transmitter detection driver whether steering wheel rotation, the embodiment of the present invention pair
Judge that the method whether vehicle turns to is not construed as limiting.When the vehicle is turning, the side of vehicle includes turning to inside and steering outside
In at least side.Target danger zone be predicted based on vehicle parameter, vehicle may be through in steering procedure
The region crossed.Therefore, if there are barrier in target danger zone, vehicle may bump against the obstacle in steering procedure
Object causes to hit dangerous.It should be noted that target danger zone includes at least the vision dead zone of driver.
Wherein, based on obtained target danger zone, control module 702 is in order to judge to whether there is obstacle in target area
Object, then should acquired disturbance object location information.The embodiment of the present invention is to the location information of 702 acquired disturbance object of control module
Mode is not construed as limiting, including but not limited to above by the way of station keeping radar.The coordinate of barrier is the position of barrier
Information.After the location information of 702 acquired disturbance object of control module, control module 702 can be sentenced based on the location information of barrier
Whether disconnected barrier is in target danger zone.If barrier is not inside target disorders region, when showing Vehicular turn
The danger of the barrier is not collided.If barrier inside target disorders region, shows have collision should when Vehicular turn
The danger of barrier in order to avoid collision, can carry out anti-collision early warning measure, to avoid vehicle collision barrier in the case.
Specifically, anti-collision early warning measure can have different grades, can be according to barrier selection corresponding to the distance between vehicle not
The anti-collision early warning measure of ad eundem.For example, when distance is smaller, high-grade anti-collision early warning measure can be used, to make vehicle
It stops as soon as possible.And when the distance is greater, the anti-collision early warning measure of inferior grade can be used, vehicle can be made to stop within certain period
Under.
System provided in an embodiment of the present invention, if knowing Vehicular turn by control module judgement, the vehicle based on vehicle
Positioned at the target danger zone of side portion of vehicle when parameter calculates Vehicular turn；If judgement, which is known, has barrier in target danger zone
Hinder object, then according to the distance between barrier and vehicle, carries out corresponding anti-collision early warning measure.Since target danger zone is to turn
To when the region that may pass through of vehicle by judging whether there are obstacles in target danger zone, vehicle therefore can be avoided
Collision obstacle in steering procedure realizes Lateral Collision Avoidance when Vehicular turn, effectively improves vehicle drive safety.
As a kind of alternative embodiment, it includes turning in real time to turn to, and vehicle parameter includes that the first car body parameter and wheel turn
Angle；Correspondingly, control module includes：Real-time steering unit；Real-time steering unit is used for, and is turned according to the first car body parameter and wheel
Angle is calculated separately positioned at the first danger zone boundary and the second danger zone boundary of side portion of vehicle, the first danger zone boundary
The first danger zone, the second danger zone boundary and the second of corresponding vehicle are formed between the first side of corresponding vehicle
The second danger zone is formed between side, target danger zone includes the first danger zone and the second danger zone.
System provided in an embodiment of the present invention, by according to the first car body parameter and wheel steering angle, calculating separately positioned at vehicle
The the first danger zone boundary and the second danger zone boundary of side, and it is based on the first danger zone boundary and the second danger area
Domain boundary obtains target danger zone.Target when due to being turned in real time using wheel steering angle and the first car body gain of parameter vehicle
Danger zone, collision obstacle when to avoid vehicle from turning in real time.
As a kind of alternative embodiment, it includes pre- steering to turn to, and vehicle parameter includes the second car body parameter and turning radius；
Correspondingly, control module includes：Pre- steering unit；Pre- steering unit is used for, and according to the second car body parameter and turning radius, is calculated
Positioned at the third danger zone boundary of side portion of vehicle, turning radius is determined by the location information of vehicle, third danger zone boundary
Third danger zone is formed between the steering inside of vehicle, target danger zone includes third danger zone.
System provided in an embodiment of the present invention, by according to the second car body parameter and steering, calculating positioned at side portion of vehicle
Third danger zone boundary, and target danger zone is obtained based on third danger zone boundary.Due to utilizing wheel steering angle and the
Target danger zone when two car body gain of parameter vehicles turn in advance, to just realize the pre- of risk of collision before Vehicular turn
It surveys, so that driver is had more reaction time, be conducive to avoid side collision.
As a kind of alternative embodiment, control module further includes：Indicating unit, for the danger according to target danger zone
Zone boundary, is calculated maximum steering wheel angle, and maximum steering wheel angle is used to indicate the maximum angular for allowing direction disc spins
Degree.
System provided in an embodiment of the present invention is calculated most by the danger zone boundary according to target danger zone
General orientation disk corner.Maximum steering wheel angle when can indicate that driver turns to due to maximum steering wheel angle, avoids
Vehicle is driven out to the target danger zone by detection, ensures laterally security when Vehicular turn.
As a kind of alternative embodiment, control module is specifically used for：According to the distance between barrier and vehicle and vehicle
Running speed prediction vehicle contact barrier needed for prediction duration, and will predict progress when reacting braking of duration and setting
Row compares；If judgement knows that prediction duration is less than reaction braking duration, the first proximity warning information, the first anti-collision early warning are sent
Signal is used to indicate alarm module and carries out high frequency alarm and/or carry out retarding braking to vehicle；If predicting duration not less than reaction
Duration is braked, then the second anti-collision early warning letter is sent with the duration difference reacted between braking duration according to the prediction duration
Breath, the second anti-collision early warning signal, which is used to indicate alarm module, to carry out a point degree and alarms.
System provided in an embodiment of the present invention, by being predicted needed for vehicle contact barrier according to the running speed of vehicle
It predicts duration, and will predict that duration is compared with the reaction of setting braking duration；If prediction is known in judgement, duration is less than reaction
Duration is braked, then carry out high frequency alarm and/or retarding braking is carried out to vehicle；If predicting, duration brakes duration not less than reaction,
Then a point degree is carried out according to duration difference to alarm.Due to being compared by will predict that duration is braked in duration and the reaction of setting,
The anti-collision early warning measure that different urgency levels are taken according to comparison result in all cases prevents side portion of vehicle with realizing
It hits.
As a kind of alternative embodiment third anticollision is sent if control module is additionally operable to judge to know that vehicle has stopped
Pre-warning signal, third anti-collision early warning signal, which is used to indicate, to carry out alarm module progress intermediate frequency alarm and/or is carried out in outside vehicle
Evacuation is reminded, until vehicle restarts.
System provided in an embodiment of the present invention, if by judge know that vehicle has stopped, carrying out intermediate frequency alarm and/or
Outside vehicle carries out evacuation prompting, until vehicle restarts.Due to vehicle due to high frequency alarm or retarding braking after promptly
Stop, driver needs to plan driving route again and restart, and therefore, is reminded by carrying out evacuation in outside vehicle to keep away
Exempting from vehicle influences other vehicles.
As a kind of alternative embodiment, referring to Fig. 8, sensing module includes millimetre-wave radar, steering wheel angle sensor, speed
Spend sensor and GPS navigation system etc..The distance that millimetre-wave radar is used to measure radar installation site to barrier；Steering wheel
Rotary angle transmitter is used to measure the angle of vehicle steering wheel when turning to；Velocity sensor is for measuring vehicle driving speed；
GPS navigation system is used to position the position of 1, vehicle, and is reading corresponding road speed limit.Control module includes microcontroller microprocessor
The main function of device, control module is to measure the radar installation site that radar measures to the distance of barrier, velocity sensor
Speed, the angle that measures of the road speed limit that reads of navigation system, steering wheel angle sensor calculated, will be tied with calculating
The corresponding proximity warning information of fruit is with electric signal output to alarm module.Alarm module includes indicator light, buzzer and display,
Buzzer and indicator light are controlled by different electrical signals, and shows that maximum steering wheel angle, realization are not sympathized with by display
A point degree under condition is alarmed.Emergency braking unit to vehicle for taking corresponding brake measure.Specifically, indicator light can be
A higher LED light of brightness that single-chip microcomputer signal can be used to control, is mounted in outside vehicle, for making to light there is dangerous situation
With to outside vehicle personnel warn；Buzzer can be a device for sending out different frequency sound that can be controlled with single-chip microcomputer signal,
For when there is dangerous situation, personnel to warn to outside driver and Che；Display screen is in vehicle liquid crystal display screen display vehicle
The maximum steering wheel angle value allowed under driving condition, for providing decision support to Driver Steering Attention；Emergency braking list
Member exports an emergency brake signal to the braking system of vehicle, to realize that vehicle is avoided in higher risk emergency braking
It is dangerous.
An embodiment of the present invention provides a kind of lateral anticollision gears of vehicle, as shown in figure 9, the equipment includes：Processor
(processor) 901, memory (memory) 902 and bus 903；
Wherein, processor 901 and memory 902 complete mutual communication by bus 903 respectively；Processor 901 is used
In calling the program instruction in memory 902, to execute the lateral avoiding collision of vehicle that above-described embodiment is provided, such as wrap
It includes：
If judging to know Vehicular turn, positioned at the mesh of side portion of vehicle when vehicle parameter based on vehicle calculates Vehicular turn
Mark danger zone；
If judgement knows that there are barriers in target danger zone, according to the distance between barrier and vehicle, progress
Corresponding anti-collision early warning measure.
The embodiment of the present invention also provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage
Medium storing computer instructs, which makes computer execute the vehicle Lateral Collision Avoidance side that corresponding embodiment is provided
Method, such as including：
If judging to know Vehicular turn, positioned at the mesh of side portion of vehicle when vehicle parameter based on vehicle calculates Vehicular turn
Mark danger zone；
If judgement knows that there are barriers in target danger zone, according to the distance between barrier and vehicle, progress
Corresponding anti-collision early warning measure.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer read/write memory medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or light
The various media that can store program code such as disk.
The embodiments such as the lateral anticollision gear of vehicle described above are only schematical, wherein being said as separating component
Bright unit may or may not be physically separated, and the component shown as unit can be or can not also
It is physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to actual need
Some or all of module therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying
In the case of going out performing creative labour, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Certain Part Methods of example or embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of lateral avoiding collision of vehicle, which is characterized in that including：
If Vehicular turn is known in judgement, the vehicle parameter based on vehicle is located at the side portion of vehicle when calculating the Vehicular turn
Target danger zone；
If judgement is known in the target danger zone there are barrier, according between the barrier and the vehicle away from
From carrying out corresponding anti-collision early warning measure.
2. according to the method described in claim 1, it is characterized in that, described turn to includes steering in real time, the vehicle parameter packet
Include the first car body parameter and wheel steering angle；Correspondingly, it is located at when the vehicle parameter based on vehicle calculates the Vehicular turn
The target danger zone of the side portion of vehicle, including：
According to the first car body parameter and the wheel steering angle, calculate separately positioned at the first danger zone of the side portion of vehicle
Boundary and the second danger zone boundary, form between first danger zone boundary and the first side of the corresponding vehicle
First danger zone forms the second danger area between second danger zone boundary and the second side of the corresponding vehicle
Domain, the target danger zone include first danger zone and second danger zone.
3. according to the method described in claim 1, it is characterized in that, described turn to includes pre- steering, the vehicle parameter includes
Second car body parameter and turning radius；Correspondingly, it is located at institute when the vehicle parameter based on vehicle calculates the Vehicular turn
The target danger zone of side portion of vehicle is stated, including：
According to the second car body parameter and the turning radius, calculate positioned at the third danger zone side of the side portion of vehicle
Boundary, the turning radius determine by the location information of the vehicle, the steering on third danger zone boundary and the vehicle
Third danger zone is formed between inside, the target danger zone includes the third danger zone.
4. according to the method described in claim 1, it is characterized in that, the vehicle parameter based on vehicle calculates the vehicle turn
To when after the target danger zone of the side portion of vehicle, further include：
According to the danger zone boundary of the target danger zone, maximum steering wheel angle, the maximum steering wheel is calculated
Corner is used to indicate the maximum angle for allowing direction disc spins.
5. according to the method described in claim 1, it is characterized in that, it is described according between the barrier and the vehicle away from
From, corresponding anti-collision early warning measure is carried out, including：
The vehicle contact institute is predicted according to the running speed of the distance between the barrier and the vehicle and the vehicle
The prediction duration needed for barrier is stated, and the prediction duration is compared with the reaction of setting braking duration；
If judgement knows that the prediction duration is less than the reaction and brakes duration, high frequency alarm is carried out and/or to the vehicle
Carry out retarding braking；If the prediction duration not less than the reaction brake duration, according to the prediction duration and it is described instead
It the duration difference between duration should be braked carries out a point degree and alarm.
6. if according to the method described in claim 5, it is characterized in that, when the prediction duration is less than reaction braking
It is long, then after carrying out high frequency alarm and/or carrying out retarding braking to the vehicle, further include：
If judgement knows that the vehicle has stopped, carrying out intermediate frequency alarm and/or carry out evacuation prompting in the outside vehicle, directly
It is restarted to the vehicle.
7. a kind of lateral anti-collision system of vehicle, which is characterized in that including：Sensing module, control module and alarm module；The biography
Sense module is connect with the control module, and the control module is connect with the alarm module；
The sensing module is used to detect the vehicle parameter of vehicle, and the vehicle parameter is sent to the control module；
If the control module knows Vehicular turn for judging, the vehicle parameter based on the vehicle calculates the vehicle and turns
To when positioned at the target danger zone of the side portion of vehicle；And if judge to know that there are obstacles in the target danger zone
Object then generates anti-collision early warning signal according to the distance between the barrier and the vehicle, and by the anti-collision early warning signal
It is sent to the alarm module；
The alarm module is used to carry out anti-collision early warning measure according to the anti-collision early warning signal.
8. system according to claim 7, which is characterized in that described turn to includes turning in real time, the vehicle parameter packet
Include the first car body parameter and wheel steering angle；Correspondingly, the control module includes：Real-time steering unit；
The real-time steering unit is used for, and according to the first car body parameter and the wheel steering angle, is calculated separately positioned at described
The the first danger zone boundary and the second danger zone boundary of side portion of vehicle, first danger zone boundary with it is corresponding described
The first danger zone, second danger zone boundary and the second of the corresponding vehicle are formed between first side of vehicle
The second danger zone is formed between side, the target danger zone includes first danger zone and second danger area
Domain.
9. system according to claim 7, which is characterized in that described turn to includes pre- steering, and the vehicle parameter includes
Second car body parameter and turning radius；Correspondingly, the control module includes：Pre- steering unit；
The pre- steering unit is used for, and according to the second car body parameter and the turning radius, is calculated and is located at the vehicle side
The third danger zone boundary in portion, the turning radius determine by the location information of the vehicle, third danger zone side
Third danger zone is formed between on the inside of the steering of boundary and the vehicle, the target danger zone includes the third danger area
Domain.
10. a kind of lateral anticollision gear of vehicle, which is characterized in that including：
At least one processor；
And at least one processor being connect with the processor communication, wherein：
The memory is stored with the program instruction that can be executed by the processor, and the processor calls described program to instruct energy
Enough methods executed as described in claim 1 to 6 is any.
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| CN201810545827.9A CN108545115A (en) | 2018-05-25 | 2018-05-25 | The lateral avoiding collision of vehicle and system |
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| CN201810545827.9A CN108545115A (en) | 2018-05-25 | 2018-05-25 | The lateral avoiding collision of vehicle and system |
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