CN109466550B - Starting safety control system and method of adaptive cruise system - Google Patents
Starting safety control system and method of adaptive cruise system Download PDFInfo
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- CN109466550B CN109466550B CN201811375924.4A CN201811375924A CN109466550B CN 109466550 B CN109466550 B CN 109466550B CN 201811375924 A CN201811375924 A CN 201811375924A CN 109466550 B CN109466550 B CN 109466550B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000003044 adaptive effect Effects 0.000 title claims description 17
- 230000000007 visual effect Effects 0.000 claims abstract description 6
- 238000000605 extraction Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 3
- 239000004575 stone Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- Engineering & Computer Science (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a starting safety control system and a starting safety control method of a self-adaptive cruise system, wherein the system comprises a control unit, a middle-distance sensor, a short-distance sensor, a visual camera, a power control unit and a brake unit; the middle distance sensor is used for sensing first obstacle information in a first set distance around the vehicle and sending the first obstacle information to the control unit; the short-distance sensor is used for sensing second obstacle information in a second set distance around the vehicle and sending the second obstacle information to the control unit; the vision camera is used for reading the picture of the road in front of the vehicle, processing the image information to obtain the classification information of the obstacles and sending the classification information to the control unit; the control unit is used for controlling the power control unit and the brake unit to act according to the first obstacle information, the second obstacle information and the classification information. The invention can improve the identification precision and ensure effective and safe starting.
Description
Technical Field
The invention relates to an automobile cruise system, in particular to a starting safety control system and method of an adaptive cruise system.
Background
Adaptive Cruise Control (ACC) is an operation for automatically controlling acceleration and deceleration of a vehicle in a longitudinal direction according to traffic conditions in a vehicle traveling direction, thereby reducing the operation burden on a driver. The ACC may run at the cruising speed set by the driver when there is no vehicle ahead or the vehicle ahead is a long distance; when the front vehicle is close to the front vehicle, the ACC can automatically keep the relative distance with the front vehicle according to the following distance set by the driver; in addition, the ACC can gradually decelerate along with the front vehicle until the front vehicle stops in the working state, and if the time for which the front vehicle stops is not long (such as < 3s), the ACC can also automatically control the vehicle to move forward along with the front vehicle when the front vehicle moves forward again.
The existing self-adaptive cruise system has the problems that the vehicle can be automatically started along with the starting of the front vehicle within 3S after the front vehicle is stopped, and the vehicle can be automatically started along with the starting of the front vehicle if the front vehicle is started after 3S, and the accelerator is lightened or a reset key is switched on or off. The design consideration is mainly a safety factor, pedestrians and the like can pass through the middle of the two vehicles within 3S after the two vehicles stop, the distance for detecting the front vehicle is not enough to identify the close-distance pedestrians and the like, and the driver is required to start after executing an accelerator or a switch action if the driver needs to start, so that the driver confirms the safety of the surrounding environment.
A starting safety control system of an adaptive cruise system in the prior art solves the problem of safe starting by judging barrier information. However, the obstacles are not classified, so that whether the obstacles affect safe starting or not can not be effectively distinguished, and some obstacles such as roadside stone pillars, high road edges, road guardrails, small ground obstacles and the like can be identified as the obstacles, so that the system does not automatically start, and the system precision is affected.
Disclosure of Invention
The invention aims to provide a starting safety control system of an adaptive cruise system, which aims to solve the problems in the prior art, improve the identification precision and ensure effective and safe starting.
The invention provides a starting safety control system of a self-adaptive cruise system, which comprises a control unit, a middle distance sensor, a short distance sensor, a visual camera, a power control unit and a brake unit, wherein the control unit is used for controlling the starting safety control system to start;
the middle distance sensor is used for sensing first obstacle information in a first set distance around the vehicle and sending the first obstacle information to the control unit;
the short-distance sensor is used for sensing second obstacle information in a second set distance around the vehicle and sending the second obstacle information to the control unit;
the vision camera is used for reading the picture of the road in front of the vehicle, processing the image information to obtain the classification information of the obstacles and sending the classification information to the control unit;
the control unit is used for controlling the power control unit and the brake unit to act according to the first obstacle information, the second obstacle information and the classification information.
Preferably, the middle distance sensor is a millimeter wave radar.
Preferably, the short-range sensor is an ultrasonic radar.
The invention also provides a starting safety control method of the adaptive cruise system, which comprises the following steps:
judging whether the following stop time of the vehicle and the previous vehicle is less than a first set time or not;
if not, judging whether second obstacle information in a second set distance around the vehicle contains newly appeared obstacle information or not;
if yes, reading the picture of the road in front of the vehicle, and processing the image information to obtain the obstacle classification information;
and controlling the driver to operate to start or control the automatic car following according to the classification information.
Preferably, if the result of judging whether the following stop time of the vehicle and the preceding vehicle is less than the first set time is yes, the method further comprises:
controlling the automatic car following.
Preferably, processing the image information comprises:
and carrying out feature extraction, feature classification and analysis on the image information.
The starting safety control system and the starting safety control method of the adaptive cruise system provided by the invention have the advantages that a vehicle in front is detected through a millimeter wave radar, short-distance obstacles including pedestrians, animals and the like are detected through an ultrasonic radar, the position relation is calculated to automatically control a brake unit and a power control unit, and the automatic acceleration and deceleration of the vehicle are realized. The ultrasonic radar CAN transmit the obstacle information through the CAN bus. In addition, the starting safety control system of the adaptive cruise system provided by the embodiment of the invention reads the picture of the road in front of the vehicle through the visual camera, processes the image information to obtain the classification information of the obstacles, and identifies the roadside stone pillar, the high road edge, the road guardrail, the small ground obstacle and the like through classification. If the pedestrian is detected, the driver is controlled to operate to realize starting so as to ensure the safety of starting.
Drawings
Fig. 1 is a block diagram of a starting safety control system of an adaptive cruise system according to an embodiment of the present invention;
fig. 2 is a flowchart of a starting safety control method of an adaptive cruise system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As shown in fig. 1, an embodiment of the present invention provides an adaptive cruise system start safety control system, which includes a control unit, a middle distance sensor, a short distance sensor, a visual camera, a power control unit, and a brake unit.
The middle distance sensor is used for sensing first obstacle information in a first set distance around the vehicle and sending the first obstacle information to the control unit; the short-distance sensor is used for sensing second obstacle information in a second set distance around the vehicle and sending the second obstacle information to the control unit; the vision camera is used for reading the picture of the road in front of the vehicle, processing the image information to obtain the classification information of the obstacles and sending the classification information to the control unit; the control unit is used for controlling the power control unit and the brake unit to act according to the first obstacle information, the second obstacle information and the classification information.
The above-mentioned middle distance sensor may be a millimeter wave radar, and the short distance sensor may be an ultrasonic radar.
According to the starting safety control system of the adaptive cruise system provided by the embodiment of the invention, a vehicle in front is detected through a millimeter wave radar, short-distance obstacles including pedestrians, animals and the like are detected through an ultrasonic radar, and the position relation is calculated to automatically control the braking unit and the power control unit, so that the automatic acceleration and deceleration of the vehicle are realized. The ultrasonic radar CAN transmit the obstacle information through the CAN bus. In addition, the starting safety control system of the adaptive cruise system provided by the embodiment of the invention reads the picture of the road in front of the vehicle through the visual camera, processes the image information to obtain the classification information of the obstacles, and identifies the roadside stone pillar, the high road edge, the road guardrail, the small ground obstacle and the like through classification. If the pedestrian is detected, the driver is controlled to operate to realize starting so as to ensure the safety of starting.
The embodiment of the invention also provides a starting safety control method of the adaptive cruise system, which comprises the following steps:
s101, judging whether the following stop time of the vehicle and the previous vehicle is less than a first set time; if not, the process proceeds to S102.
S102, judging whether second obstacle information in a second set distance around the vehicle contains newly appeared obstacle information or not; if so, the process proceeds to S103.
And S103, reading the picture of the road in front of the vehicle, and processing the image information to obtain the obstacle classification information.
And S104, controlling the driver to operate to start or control the automatic car following according to the classification information.
If the obstacles after classification are pedestrians or animals, the operation starting of the driver is controlled, and if the obstacles are guardrails, roadside facilities, road edges and the like, the vehicle starts automatically following the front vehicle.
Preferably, if the judgment result of S101 is yes, the method further includes:
and S105, controlling the automatic car following.
Further, the processing the image information in S103 includes: and carrying out feature extraction, feature classification and analysis on the image information.
The construction, features and functions of the present invention are described in detail in the embodiments illustrated in the drawings, which are only preferred embodiments of the present invention, but the present invention is not limited by the drawings, and all equivalent embodiments modified or changed according to the idea of the present invention should fall within the protection scope of the present invention without departing from the spirit of the present invention covered by the description and the drawings.
Claims (6)
1. A starting safety control system of an adaptive cruise system is characterized by comprising a control unit, a middle distance sensor, a short distance sensor, a visual camera, a power control unit and a brake unit;
the middle distance sensor is used for sensing first obstacle information in a first set distance around the vehicle and sending the first obstacle information to the control unit;
the short-distance sensor is used for sensing second obstacle information in a second set distance around the vehicle and sending the second obstacle information to the control unit;
the vision camera is used for reading the picture of the road in front of the vehicle, processing the image information to obtain the classification information of the obstacles and sending the classification information to the control unit;
the control unit is used for controlling the power control unit and the brake unit to act according to the first obstacle information, the second obstacle information and the classification information.
2. The system of claim 1, wherein the mid-range sensor is a millimeter wave radar.
3. The system of claim 1, wherein the short-range sensor is an ultrasonic radar.
4. A starting safety control method of an adaptive cruise system is characterized by comprising the following steps:
judging whether the following stop time of the vehicle and the previous vehicle is less than a first set time or not;
if not, judging whether second obstacle information in a second set distance around the vehicle contains newly appeared obstacle information or not;
if yes, reading the picture of the road in front of the vehicle, and processing the image information to obtain the obstacle classification information;
and controlling the driver to operate to start or control the automatic car following according to the classification information.
5. The method according to claim 4, wherein if the result of determining whether the following stop time of the host vehicle and the preceding vehicle is less than the first set time is yes, the method further comprises:
controlling the automatic car following.
6. The method of claim 4, wherein processing image information comprises:
and carrying out feature extraction, feature classification and analysis on the image information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811375924.4A CN109466550B (en) | 2018-11-19 | 2018-11-19 | Starting safety control system and method of adaptive cruise system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811375924.4A CN109466550B (en) | 2018-11-19 | 2018-11-19 | Starting safety control system and method of adaptive cruise system |
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| Publication Number | Publication Date |
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| CN109466550A CN109466550A (en) | 2019-03-15 |
| CN109466550B true CN109466550B (en) | 2020-07-28 |
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| CN109976346B (en) * | 2019-04-08 | 2022-05-13 | 广州小鹏汽车科技有限公司 | Vehicle automatic following control method and system |
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| CN206217801U (en) * | 2016-11-11 | 2017-06-06 | 智车优行科技（北京）有限公司 | A kind of advanced drive assist system module assembly device, system and vehicle |
| CN107364445A (en) * | 2017-03-09 | 2017-11-21 | 吉利汽车研究院（宁波）有限公司 | A kind of self-adaption cruise system for merging close-range detection system |
| CN107826107A (en) * | 2017-11-17 | 2018-03-23 | 南京视莱尔汽车电子有限公司 | A kind of emergent obstacle avoidance system of autonomous driving vehicle |
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2018
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Patent Citations (6)
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| CN202163431U (en) * | 2011-06-30 | 2012-03-14 | 中国汽车技术研究中心 | Collision and traffic lane deviation pre-alarming device based on integrated information of sensors |
| CN105631414A (en) * | 2015-12-23 | 2016-06-01 | 上海理工大学 | Vehicle-borne multi-obstacle classification device and method based on Bayes classifier |
| CN106327920A (en) * | 2016-08-31 | 2017-01-11 | 深圳天珑无线科技有限公司 | Road condition detection method and road condition detection system |
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Address after: 230601 No. 99 Ziyun Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Anhui Jianghuai Automobile Group Limited by Share Ltd Address before: 230601 No. 669 Shixin Road, Taohua Industrial Park, Hefei City, Anhui Province Applicant before: Anhui Jianghuai Automobile Group Limited by Share Ltd |
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