CN114537374A - Vehicle front anti-collision system based on travelable area - Google Patents
Vehicle front anti-collision system based on travelable area Download PDFInfo
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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
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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Abstract
The invention discloses a vehicle front anti-collision system based on a travelable area. The system comprises an environment perception module, a travelable area detection module, a control decision module and an execution module; the method comprises the steps of obtaining road environment information in front of a vehicle through a front-view camera and a laser radar on the vehicle, processing the road environment information in a travelable area detection module to obtain a travelable area and an obstacle information list in a boundary of the corresponding travelable area, transmitting the obstacle information list to a control decision module, screening a most dangerous target object on a vehicle traveling track in the control decision module, calculating collision time of the vehicle and the most dangerous target object in real time, obtaining control decisions of different control modes according to a collision time threshold, transmitting the control decisions to an execution module, and executing anti-collision. The invention can overcome the defect that the existing front anti-collision system only performs anti-collision on people and vehicles, can realize the anti-collision on common barriers appearing on roads, and greatly reduces the occurrence rate of traffic accidents.
Description
Technical Field
The invention relates to a vehicle anti-collision system in the technical fields of automobile environment perception, software, computer technology, mechano-electronic technology, communication technology and embedded systems, in particular to a vehicle front anti-collision system based on a travelable area.
Background
In order to reduce the occurrence of vehicle collision accidents, governments standardize traffic laws and regulations, increase the investment of manpower and material resources of traffic policemen, actively take various policies such as the performance test regulations of automatic emergency braking systems of commercial vehicles and passenger vehicles, and forcibly require the installation of the system for commercial vehicles, various research institutions, part suppliers and host factories to continuously release and use a front anti-collision system of the vehicles, which is statistically characterized in that the front anti-collision system of the vehicles mainly aims at the vehicles and pedestrians appearing right ahead of the vehicles and has better anti-collision effect, but has poorer anti-collision effect on suddenly appearing and crossing vehicles and pedestrian targets, and can not timely perform collision early warning and collision prevention on general obstacles (objects except the vehicles and pedestrians, such as road maintenance tools and other larger static objects such as water horses, cone barrels, anti-collision piers and the like), and the inevitable collision accidents mainly occur in the latter two cases.
Disclosure of Invention
The invention provides a vehicle front anti-collision system based on a travelable area, aiming at solving a series of technical problems that the current vehicle front anti-collision system has weak anti-collision capability on suddenly appeared traffic targets and static targets which are not involved in traffic do not have anti-collision capability, and the like.
The system can timely and accurately provide the information of the front travelable area and the front anti-collision information for the driver based on the travelable area recognition and anti-collision control strategy technology, can provide reliable vehicle anti-collision control for the driver when encountering a suddenly crossed entering traffic target or a suddenly appearing static target with collision risk on a forward road, avoids traffic accidents caused by the driver not having time to make judgment decisions, and reduces the loss of personnel and property.
The technical scheme of the invention is as follows:
as shown in fig. 1, the system includes an environment sensing module, a travelable region detection module, a control decision module, and an execution module, specifically:
the environment sensing module comprises a camera sensing unit and a laser radar sensing unit, the camera sensing unit senses image data information of a road environment in front of the vehicle, and the laser radar sensing unit senses laser point cloud data information of the road environment in front of the vehicle;
the driving area detection module comprises a perception data preprocessing unit, a target identification unit and a driving area acquisition unit which are sequentially connected;
the perception data preprocessing unit comprises image data preprocessing, laser point cloud data preprocessing and unification of different sensor data coordinate systems;
the target identification unit comprises target identification and target fusion which are sequentially carried out, and outputs a barrier primary screening target list after the targets are screened;
the travelable area acquisition unit outputs travelable area information according to the barrier primary screening target list, wherein the travelable area information comprises the barrier target list and a travelable area boundary;
and the target obtained by the target identification unit in the travelable area detection module is a target output after the visual target and the laser radar target are fused.
The control decision module comprises a collision time calculation unit and a control mode selection unit which are sequentially connected;
the collision time calculation unit screens out the most dangerous target from the barrier target list output by the travelable area acquisition unit, calculates the relative speed and the relative distance between the most dangerous target and the vehicle, and calculates the collision time TTC in real time;
the most dangerous target is the most dangerous target obtained according to a screening method, and the barrier target is classified into a first-level danger and a second-level danger according to danger grades, wherein the screening method comprises a target motion state, a target transverse distance screening and a TTC time screening principle.
The control mode selection unit analyzes and processes the boundary condition selected by the control mode according to the collision time TTC to obtain a control mode and sends the control mode to the execution module;
and the execution module starts corresponding units in the execution module according to the control mode obtained by the processing of the control decision module, namely the anti-collision early warning unit or the anti-collision braking unit, so as to realize the anti-collision in front of the vehicle.
The unit started by the execution module comprises an anti-collision early warning unit and an anti-collision braking unit;
the anti-collision braking unit receives the anti-collision braking control mode sent to the execution module and performs anti-collision braking;
and the anti-collision early warning unit receives the anti-collision early warning control mode sent to the execution module and performs anti-collision early warning of sound-light and picture prompt.
The camera sensing unit comprises a front-view camera which is arranged on a front windshield of the vehicle, and the camera sensing unit acquires image data information of a road environment in front of the vehicle through the front-view camera.
The laser radar sensing unit comprises a laser radar, the laser radar is installed at the top of the vehicle, and the laser radar sensing unit acquires laser point cloud data information of a road environment in front of the vehicle through the laser radar.
The front-view camera adopts one or more vehicle-mounted wide-view long-focus cameras.
The laser radar adopts one or more of solid laser radar or mechanical rotation laser radar.
The anti-collision early warning unit realizes early warning through acousto-optic early warning or picture early warning.
The environment perception module, the drivable area detection module, the control decision module and the execution module are connected in a bus connection mode, and the bus connection mode adopts one or a combination mode of serial port communication, CANBUS communication and network communication of a TCP/IP protocol.
In the collision time calculation unit, the screening processing is carried out according to the following screening method with the target motion state, the target transverse distance screening and the TTC time screening principles:
firstly, performing primary screening on targets in the obstacle target list output by the travelable area acquisition unit according to the transverse distance of each target relative to the vehicle, screening the targets meeting the following conditions, adding the screened targets into a target list target [ n ], and entering the next step of screening:
satisfies the formula Dy-ly <0 and (Dx-Vx t) <0
Wherein Dy is the transverse distance of the ith target relative to the vehicle; ly, screening boundary values of preset transverse distances; dx is the longitudinal distance of the ith target relative to the vehicle; vx is the longitudinal speed of the ith target relative to the vehicle; t, screening and calculating a time boundary value of a preset longitudinal distance;
step two, obtaining a target list target [ n ] from the step one, calculating TTC time for the targets in the target list target [ n ], wherein the TTC is the relative distance between the vehicle and the front target/the relative speed between the vehicle and the front target, and performing re-screening and control on the targets according to the TTC time and the motion state;
a) a target which satisfies the formula Dd/Vv is less than or equal to a and Ss is kept unchanged in the T time period is classified as a first-level dangerous target, an anti-collision braking mode is entered, and the vehicle is controlled to brake;
b) a target which satisfies the formula a is less than or equal to Dd/Vv is less than or equal to b and Ss is kept unchanged in the T time period belongs to a secondary dangerous target object, an anti-collision early warning mode is entered, the vehicle is controlled not to brake, and a reminding operation is generated in the vehicle;
c) enabling the target which meets the formula Dd/Vv > b and has the Ss unchanged in the T time period to belong to a safe dangerous target, and entering a normal driving mode;
wherein, a: a preset first minimum TTC threshold; b: a preset second minimum TTC threshold; and Dd: the relative distance of the target with respect to the host vehicle; vv: the relative speed of the target object is equivalent to the relative speed of the vehicle; and Ss: the motion state of the object.
When the condition b) enters the condition a), the control mode is automatically switched to an anti-collision braking mode;
the control mode selection unit always operates the mode selection calculation, and if the conditions a) and b) do not exist, the control mode does not jump into the existing control mode, and the control mode does not intervene the vehicle running control in the normal running mode.
The method comprises the steps that image information and point cloud information of various targets such as motor vehicles, non-motor vehicles, pedestrians, static objects and the like in the surrounding environment of a vehicle are obtained through a vehicle-mounted environment sensing module, and the information is subjected to data processing, unified coordinate system, target identification and fusion and travelable area obtaining in a travelable area detection module; and performing anti-collision strategy calculation in a control decision module according to conditions such as a transverse distance boundary condition, collision time TTC and the like, and then selecting different execution modes according to strategies so as to realize front anti-collision of the vehicle.
The invention relates to the relevant fields of vehicle-mounted sensor environment perception, software, image processing, mode recognition, target information fusion, embedded computers, communication and the like; the vehicle-mounted environment perception sensor is used for acquiring road condition information, processing the environment information to acquire a travelable area, classifying danger levels of the barrier target list based on the travelable area, and calculating an anti-collision control strategy, so that an anti-collision strategy of a vehicle in the traveling process is realized. The anti-collision strategy based on the calculation of the travelable area improves the precision of the anti-collision strategy of the vehicle to various targets (dynamic and static), avoids or reduces the occurrence rate of vehicle collision accidents and improves the driving safety of the vehicle.
The invention has the beneficial effects that:
the vehicle-mounted forward-looking camera and the laser radar multi-sensor are used for acquiring multi-dimensional road condition information, so that target information is enriched, the accuracy of target identification is improved, and the anti-collision of targets caused by errors is reduced; the real-time performance of the system is improved by carrying out a target fusion technology after different sensor data are identified; the risk level of the vehicle is classified and the risk target is predicted by the front target based on the target list of the travelable area and the principles of the transverse distance boundary condition and the like, the response capability of the system to the suddenly cut-in target is enhanced, and the collision accident can be effectively prevented.
The invention can overcome the defect that the existing front anti-collision system only performs anti-collision on people and vehicles, can realize the anti-collision on common barriers on roads, effectively greatly reduces the occurrence rate of traffic accidents and improves the traffic safety.
Drawings
FIG. 1 is a schematic flow diagram of the system of the present invention;
FIG. 2 is a schematic diagram of the system of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
Referring to fig. 2, the working process in the specific implementation of the present invention is as follows:
the method comprises the steps of collecting front road environment information through a vehicle-mounted forward-looking camera and a laser radar which are mounted on a vehicle, respectively obtaining two-dimensional image data and three-dimensional laser radar point cloud data of a road environment, and then preprocessing the image data and the laser radar three-dimensional point cloud data, wherein the preprocessing of the image data comprises filtering and denoising processing of the image information and image pyramid generation, and the preprocessing of the point cloud data comprises data filtering, data clustering and the like.
Respectively detecting and identifying various targets under respective target identification modelers by the image data and the point cloud data after the preprocessing is finished to respectively obtain image targets (px)n,pyn,propertyn) And the recognition target (x) of the three-dimensional point cloudn,yn,Zn) The objects include vehicles, pedestrians, traffic aids such as road boundaries and cones, buildings.
Unifying a coordinate system of the target obtained after identification according to calibration parameters jointly calibrated by the camera and the laser radar, projecting 2D coordinate information of the image target into 3D coordinates of the laser point cloud, fusing the target to obtain a fused target object listTable (7). When the coincidence degree of the two types of targets is greater than a threshold value S in the system, the two types of targets are judged as one type of target, and then the target inherits the 3D coordinates of the point cloud and the target property of the imagen(namely the target type), then calculate its longitudinal distance, lateral distance, angular relation relative to this vehicle, and carry on the calculation and prediction of relative velocity, target object motion state, calculation of time to collide TTC according to the interframe data.
And forming a boundary of the fused travelable region by the fused target object list according to the principle that the vehicle moves from the left to the right from near to far. And screening dangerous target objects based on the fused travelable area boundary, wherein the screening and judging mode is as follows:
1. a predicted motion state of the target;
2. a position attribute of the target object relative to the host vehicle;
3. a target TTC time;
firstly, preliminarily screening target objects according to position attributes of the target objects relative to the vehicle, setting targets outside the left and right transverse distances ly of the target objects from the vehicle as safety targets, judging the targets in the left and right transverse distances ly from the vehicle according to motion attributes and time TTC of collision, and dividing the danger grades of the target objects into three types according to the following modes:
when the collision time TTC is less than a first threshold a and the predicted motion state of the target object is stable in a T time period, the target is a first-level dangerous target; the stable state means that the motion state of the target is kept unchanged in the T time period and is consistent with the motion state judged before the T time period.
A first threshold value a < time to collision TTC < a second threshold value b and a predicted motion state is a secondary risk target when it is stable within a T period of time;
time to collision TTC > second threshold b, a safety hazard objective.
Wherein the first threshold value a is smaller than the second threshold value b.
When a first-level danger target exists in front of the vehicle, anti-collision braking is carried out, and the control decision module sends an anti-collision braking control mode to the execution module for anti-collision braking;
when a secondary danger target exists in front of the vehicle, performing anti-collision early warning, and controlling a decision module to send an anti-collision early warning control mode to an execution module to perform acousto-optic and image prompting anti-collision early warning;
when a safety danger target exists in front of the vehicle (namely, the screened targets except the primary danger target and the secondary danger target), the safety danger target is classified or updated into a safety danger target list, and the motion states and TTC time calculation of all targets in the safety danger target list are continuously predicted.
Therefore, the front anti-collision system of the vehicle is realized.
Claims (9)
1. A collision-preventing system in front of a vehicle based on a drivable region is characterized in that,
the system comprises an environment perception module, a travelable area detection module, a control decision module and an execution module, and specifically comprises:
the environment sensing module comprises a camera sensing unit and a laser radar sensing unit, the camera sensing unit senses image data information of a road environment in front of the vehicle, and the laser radar sensing unit senses laser point cloud data information of the road environment in front of the vehicle;
the driving area detection module comprises a perception data preprocessing unit, a target identification unit and a driving area acquisition unit;
the perception data preprocessing unit comprises image data preprocessing, laser point cloud data preprocessing and unification of different sensor data coordinate systems;
the target identification unit comprises target identification and target fusion, and outputs a barrier primary screening target list after target screening is carried out;
the travelable area acquisition unit outputs travelable area information according to the barrier primary screening target list, wherein the travelable area information comprises the barrier target list and a travelable area boundary;
the control decision module comprises a collision time calculation unit and a control mode selection unit;
the collision time calculation unit screens out the most dangerous target from the barrier target list output by the travelable area acquisition unit, calculates the relative speed and the relative distance between the most dangerous target and the vehicle, and calculates the collision time TTC in real time;
the control mode selection unit analyzes and processes the boundary condition selected by the control mode according to the collision time TTC to obtain a control mode and sends the control mode to the execution module;
and the execution module starts corresponding units in the execution module according to the control mode obtained by the processing of the control decision module, so that the front collision prevention of the vehicle is realized.
2. The zone-travelable-based collision avoidance system for a vehicle ahead of claim 1, wherein: the unit started by the execution module comprises an anti-collision early warning unit and an anti-collision braking unit;
the anti-collision braking unit receives the anti-collision braking control mode sent to the execution module and performs anti-collision braking;
and the anti-collision early warning unit receives the anti-collision early warning control mode sent to the execution module and performs anti-collision early warning of sound-light and picture prompt.
3. The zone-travelable-based collision avoidance system for a vehicle ahead of claim 1, wherein: the camera sensing unit comprises a front-view camera which is arranged on a front windshield of the vehicle, and the camera sensing unit acquires image data information of a road environment in front of the vehicle through the front-view camera.
4. The zone-travelable-based collision avoidance system for a vehicle ahead of claim 1, wherein: the laser radar sensing unit comprises a laser radar, the laser radar is installed at the top of the vehicle, and the laser radar sensing unit acquires laser point cloud data information of a road environment in front of the vehicle through the laser radar.
5. The zone-travelable-based collision avoidance system for a vehicle ahead of claim 1, wherein: the front-view camera adopts one or more vehicle-mounted wide-view long-focus cameras.
6. The zone-travelable-based collision avoidance system for a vehicle ahead of claim 1, wherein: the laser radar adopts one or more of solid laser radar or mechanical rotation laser radar.
7. The zone-travelable-based collision avoidance system for a vehicle ahead of claim 1, wherein: the anti-collision early warning unit realizes early warning through acousto-optic early warning or picture early warning.
8. The zone-travelable-based collision avoidance system for a vehicle ahead of claim 1, wherein: the environment perception module, the travelable area detection module, the control decision module and the execution module are connected in a bus connection mode.
9. The zone-travelable-based collision avoidance system for a vehicle ahead of claim 1, wherein: in the collision time calculation unit, the screening processing is carried out according to the following screening method with the target motion state, the target transverse distance screening and the TTC time screening principles:
firstly, performing primary screening on targets in the obstacle target list output by the travelable area acquisition unit according to the transverse distance of each target relative to the vehicle, screening the targets meeting the following conditions, adding the screened targets into a target list target [ n ], and entering the next step of screening:
satisfies the formula Dy-ly <0 and (Dx-Vx t) <0
Wherein Dy is the transverse distance of the ith target relative to the vehicle; ly, screening boundary values of preset transverse distances; dx is the longitudinal distance of the ith target relative to the vehicle; vx is the longitudinal speed of the ith target relative to the vehicle; t, screening and calculating a time boundary value of a preset longitudinal distance;
step two, obtaining a target list target [ n ] from the step one, calculating TTC time for the targets in the target list target [ n ], wherein the TTC is the relative distance between the vehicle and the front target/the relative speed between the vehicle and the front target, and performing re-screening and control on the targets according to the TTC time and the motion state;
a) a target which satisfies the formula Dd/Vv is less than or equal to a and Ss is kept unchanged in the T time period is classified as a first-level dangerous target, and an anti-collision braking mode is entered;
b) a target which satisfies the formula a is less than or equal to Dd/Vv is less than or equal to b and Ss is kept unchanged in the T time period belongs to a secondary dangerous target object, and an anti-collision early warning mode is entered;
c) enabling the target which meets the formula Dd/Vv > b and has the Ss unchanged in the T time period to belong to a safe dangerous target, and entering a normal driving mode;
wherein, a: a preset first minimum TTC threshold; b: a preset second minimum TTC threshold; and Dd: the relative distance of the target with respect to the host vehicle; vv: the relative speed of the target object is equivalent to the relative speed of the vehicle; and Ss: the motion state of the object.
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| CN202210291341.3A CN114537374A (en) | 2022-03-23 | 2022-03-23 | Vehicle front anti-collision system based on travelable area |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115158306A (en) * | 2022-07-27 | 2022-10-11 | 广州小鹏自动驾驶科技有限公司 | Vehicle avoidance method and device, terminal device and storage medium |
| TWI823613B (en) * | 2022-10-13 | 2023-11-21 | 鴻海精密工業股份有限公司 | Anti-collision warning method, vehicle-mounted device, and storage medium |
| CN117382593A (en) * | 2023-12-08 | 2024-01-12 | 之江实验室 | Vehicle emergency braking method and system based on laser point cloud filtering |
| CN115158306B (en) * | 2022-07-27 | 2024-06-04 | 广州小鹏自动驾驶科技有限公司 | Vehicle avoidance method, device, terminal equipment and storage medium |
-
2022
- 2022-03-23 CN CN202210291341.3A patent/CN114537374A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115158306A (en) * | 2022-07-27 | 2022-10-11 | 广州小鹏自动驾驶科技有限公司 | Vehicle avoidance method and device, terminal device and storage medium |
| CN115158306B (en) * | 2022-07-27 | 2024-06-04 | 广州小鹏自动驾驶科技有限公司 | Vehicle avoidance method, device, terminal equipment and storage medium |
| TWI823613B (en) * | 2022-10-13 | 2023-11-21 | 鴻海精密工業股份有限公司 | Anti-collision warning method, vehicle-mounted device, and storage medium |
| CN117382593A (en) * | 2023-12-08 | 2024-01-12 | 之江实验室 | Vehicle emergency braking method and system based on laser point cloud filtering |
| CN117382593B (en) * | 2023-12-08 | 2024-04-05 | 之江实验室 | Vehicle emergency braking method and system based on laser point cloud filtering |
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