CN116476819A - Low-speed target cut-in judging method and system - Google Patents

Low-speed target cut-in judging method and system Download PDF

Info

Publication number
CN116476819A
CN116476819A CN202210036815.XA CN202210036815A CN116476819A CN 116476819 A CN116476819 A CN 116476819A CN 202210036815 A CN202210036815 A CN 202210036815A CN 116476819 A CN116476819 A CN 116476819A
Authority
CN
China
Prior art keywords
target
speed
looking
ultrasonic radar
judging
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210036815.XA
Other languages
Chinese (zh)
Inventor
左小钢
梁锋华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing Changan Automobile Co Ltd
Original Assignee
Chongqing Changan Automobile Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing Changan Automobile Co Ltd filed Critical Chongqing Changan Automobile Co Ltd
Priority to CN202210036815.XA priority Critical patent/CN116476819A/en
Publication of CN116476819A publication Critical patent/CN116476819A/en
Pending legal-status Critical Current

Links

Classifications

    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed
    • 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
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • 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
    • B60W2554/80—Spatial relation or speed relative to objects

Abstract

The invention provides a low-speed target cut-in judging method and a system, comprising the following steps: (1) Judging whether the vehicle speed condition is met, if so, entering the next step; (2) Receiving and judging the perception results of the ultrasonic radar and the looking-around camera, if one target is detected by the perception results of the ultrasonic radar and the looking-around camera at the same time, using target position information, otherwise filtering without using perception information; (3) Judging whether the safety logic condition is met according to the detected obstacle distance and speed information, if so, braking and prompting are carried out, otherwise, the safety risk is avoided, and the safety logic condition is not treated. According to the invention, through reasonable application of the sensing results of the ultrasonic wave and the looking-around camera, the cut-in target can be accurately identified under the working conditions of low speed and close range, and the limitations of inaccurate identification, limited sensing range and the like of the millimeter wave radar and the looking-around camera are overcome.

Description

Low-speed target cut-in judging method and system
Technical Field
The invention is used for judging that a close-range target cuts into a running path of a vehicle by a driving auxiliary system under a traffic jam working condition, and particularly relates to the traffic jam driving auxiliary system, an ultrasonic radar and a looking-around fisheye camera.
Background
In recent years, with the rise of the concept of automatic driving, various host factories and suppliers are developing automatic driving business with great force, and at present, high-speed driving assistance functions have more solutions, but up to now, there is no vehicle realizing commercial mass production of automatic driving, because the complexity of the scene that needs to be solved by automatic driving is too high, wherein traffic jam is a working condition that automatic driving must face, and the problem of cutting into objects at low speed and close distance is a risk scene that is frequently encountered under the working condition, and the existing driving assistance systems on the market cannot fully cope with solving, and when the objects at close distance are cut into under the low speed state, the driver is required to safely control and take over the vehicle to avoid collision.
Therefore, aiming at the traffic jam working condition, the safety of an automatic driving system is ensured, and the aim can be achieved by combining a perfect coping strategy by accurately identifying the cut-in target by a sensing device.
Disclosure of Invention
The invention provides a low-speed target cut-in judging method, which is based on fusion information of a surrounding camera and an ultrasonic radar, improves the judging precision of cut-in of a low-speed target and accurately identifies the cut-in target.
The technical scheme of the invention is as follows:
the invention aims to provide a low-speed target cut-in judging method, which is used for judging the cut-in of a low-speed target by fusing a distance signal perceived by an ultrasonic radar and a target signal perceived by a looking-around fisheye camera with other sensor perception information under a low-speed congestion working condition and adjusting the confidence level of a sensor target according to the characteristics of the sensor. The method comprises the following steps:
(1) Judging whether the vehicle speed condition is met, if so, entering the next step;
(2) Receiving and judging the perception results of the ultrasonic radar and the looking-around camera, if one target is detected by the perception results of the ultrasonic radar and the looking-around camera at the same time, using target position information, otherwise filtering without using perception information;
(3) Judging whether the safety logic condition is met according to the detected obstacle distance and speed information, if so, braking and prompting are carried out, otherwise, the safety risk is avoided, and the safety logic condition is not treated.
Preferably, the vehicle speed condition in the step (1) is determined based on the sensing range and the sensing precision characteristic of the looking-around camera and the ultrasonic radar, only when the vehicle speed of the vehicle is smaller than 40km/h, the sensing result cannot be used because of insufficient sensing distance and rapid decline of precision when the speed is overlarge.
Preferably, the safety logic condition in the step (3) is to fuse the object type identified by the looking-around camera, the grounding point coordinate position and the obstacle echo coordinate point obtained by sensing and positioning by the ultrasonic radar, obtain an obstacle boundary, judge the collision risk by combining the speed of the vehicle, brake if the vehicle moves and collides, and judge whether to start or shorten the distance between the vehicle and the obstacle boundary according to the distance if the vehicle is stationary.
For the present invention, the ultrasonic radar and the looking around camera are arranged on the bumper and the rearview mirror, ensuring that the sensing range of the sensor covers the area where the low-speed target may cut into. When the vehicle runs, the distance signal perceived by the ultrasonic radar and the target signal perceived by the looking-around fish-eye camera are sent to the driving auxiliary controller.
Another object of the present invention is to provide a low-speed target cut-in judging system, including an ultrasonic radar, a looking-around camera, and an intelligent driving controller, wherein the ultrasonic radar and the looking-around camera are respectively arranged on a bumper and a rearview mirror of a whole vehicle, and the intelligent driving controller includes:
a first judging module configured to judge whether a vehicle speed condition is satisfied;
the second judging module is configured to simultaneously receive and judge the sensing results of the ultrasonic radar and the looking-around camera, if one target is detected by the sensing results of the ultrasonic radar and the looking-around camera at the same time, the target position information is used, otherwise, the sensing information is not used in filtering;
and the third judging module is configured to judge whether the safety logic condition is met according to the detected obstacle distance and speed information, if so, braking and prompting are carried out, otherwise, the safety risk is avoided, and the safety logic condition is not processed.
The automatic driving system needs higher safety level, redundant sensing unit coverage is often needed to achieve the functional safety level target, and various architectures using multiple cameras, multiple millimeter wave radars and multiple laser radars as sensing units for automatic driving are released by all host factories at present for automatic driving. The invention provides the method for accurately judging the low-speed cut-in target by excavating the sensing characteristics of sensing units such as the looking-around fish-eye camera, the ultrasonic radar and the like, and compared with the prior art, the invention has the advantages that:
1. the ultrasonic radar and the looking-around fish-eye camera are sensors almost matched with the vehicle, the cost of a sensing unit is not required to be increased, and the implementation can be realized by only combining the characteristics of the sensors and doing corresponding software development work
2. Through reasonable application of the sensing results of the ultrasonic wave and the looking-around camera, the cut-in target can be accurately identified under the working conditions of low speed and close range, and the limitations of inaccurate identification, limited sensing range and the like of the low-speed target existing in the millimeter wave radar and the looking-around camera are overcome.
Drawings
Fig. 1 is a schematic diagram of the arrangement of the ultrasonic and pan-around cameras of the present low speed target cut-in determination system on a vehicle.
Fig. 2 is a schematic diagram of pan around camera target detection.
Fig. 3 is a schematic view of an ultrasonic radar for obstacle localization from echoes.
Fig. 4 is a flow chart of a process of the intelligent driving controller receiving the sensing result of the looking-around camera and the ultrasonic radar.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Referring to fig. 1, in one embodiment of the present invention, the entire low-speed target cut-in determination system is composed of an ultrasonic radar, a look-around camera, and an intelligent driving controller. The intelligent driving controller can make corresponding control strategies according to the perception information of the ultrasonic radars and the looking-around cameras under the low-speed congestion working condition, and ensure the safety of the vehicle. The intelligent driving controller includes:
and the first judging module is configured to judge whether the vehicle speed condition is met or not.
And the second judging module is configured to simultaneously receive and judge the sensing results of the ultrasonic radar and the looking-around camera, if one target is detected by the sensing results of the ultrasonic radar and the looking-around camera, the target position information is used, and otherwise, the sensing information is not used in filtering.
And the third judging module is configured to judge whether the safety logic condition is met according to the detected obstacle distance and speed information, if so, braking and prompting are carried out, otherwise, the safety risk is avoided, and the safety logic condition is not processed.
Referring to fig. 2, in another embodiment of the present invention, the look-around camera is based on a deep learning algorithm, and identifies a target in a camera frame, and outputs a target type and a target relative position to an intelligent driving controller through a position comparison calculation between a connection point of the target and the ground and a pixel point calibrated in advance by the camera.
Referring to fig. 3, in another embodiment of the present invention, the ultrasonic radar is a mechanical wave, and can accurately detect the closest distance from the target to the probe at a low speed, but the sensing range of a single ultrasonic radar is larger, and no coordinates exist, so that the accurate relative position of the target cannot be known, and therefore, triangle positioning needs to be performed through two adjacent ultrasonic radar detection results, so as to form a sensing result point with coordinates relative to the origin of the vehicle, and output the sensing result point to the intelligent driving controller.
In another embodiment of the present invention, a low-speed target cut-in judging method generally includes the steps of:
1. judging whether the vehicle speed condition is met, if so, entering the next step;
2. receiving and judging the perception results of the ultrasonic radar and the looking-around camera, if one target is detected by the perception results of the ultrasonic radar and the looking-around camera at the same time, using target position information, otherwise filtering without using perception information;
3. judging whether the safety logic condition is met according to the detected obstacle distance and speed information, if so, braking and prompting are carried out, otherwise, the safety risk is avoided, and the safety logic condition is not treated.
Specifically, referring to fig. 4, in another embodiment of the present invention, the processing flow of receiving the sensing result of the looking-around camera and the ultrasonic radar by the intelligent driving controller is as follows:
1. and (4) performing self-checking when the system is powered on, and if the system is normal, entering the next step. If the system is faulty, the intelligent driving controller prompts the fault information to the driver, and the system exits.
2. And when the system is powered on, performing self-checking, if the activation condition is met, entering the next step, and if the activation condition is not met, exiting the system.
3. The power-on self-check meets the activation condition, the intelligent driving controller judges whether the vehicle speed condition is met, if yes, the sensing information of the looking-around camera and the ultrasonic radar is used, the next step is carried out, and if not, the intelligent driving controller is not used. Here, the vehicle speed condition is that the own vehicle speed is less than 40km/h.
4. The intelligent driving controller receives and judges the sensing results of the ultrasonic radar and the looking-around camera simultaneously, if one target is detected by the sensing results of the ultrasonic radar and the looking-around camera simultaneously, the target position information is used, otherwise, the sensing information is not used in filtering, and false detection of the sensor is avoided.
5. And the intelligent driving controller judges whether the safety logic condition is met according to the detected obstacle distance and speed information, if so, the intelligent driving controller brakes and prompts, otherwise, the intelligent driving controller does not have safety risk and does not process the intelligent driving controller.
The safety logic condition is that the obstacle echo coordinate points obtained by the recognized object type of the looking-around camera, the ground point coordinate position and the ultrasonic radar sensing and positioning are fused to obtain an obstacle boundary, the collision risk is judged by combining the speed of the vehicle, braking is carried out if the vehicle moves and collides, and whether the vehicle starts or shortens the distance from the obstacle boundary is judged according to the distance if the vehicle is stationary.

Claims (7)

1. The low-speed target cut-in judging method is characterized by comprising the following steps of:
(1) Judging whether the vehicle speed condition is met, if so, entering the next step;
(2) Receiving and judging the perception results of the ultrasonic radar and the looking-around camera, if one target is detected by the perception results of the ultrasonic radar and the looking-around camera at the same time, using target position information, otherwise filtering without using perception information;
(3) Judging whether the safety logic condition is met according to the detected obstacle distance and speed information, if so, braking and prompting are carried out, otherwise, the safety risk is avoided, and the safety logic condition is not treated.
2. The method of claim 1, wherein the method is applicable under low speed congestion conditions.
3. The method of claim 1, wherein the vehicle speed condition of step (1) is that the own vehicle speed is less than 40km/h.
4. The method according to claim 1, wherein the safety logic condition of the step (3) is to determine a collision risk by combining the speed of the host vehicle with the obstacle boundary obtained from the sensing result, and to brake the host vehicle if the host vehicle is moving and collides with the obstacle boundary, and to determine whether to start or shorten the distance from the obstacle boundary based on the distance if the host vehicle is stationary.
5. The low-speed object cut-in judging method according to claim 1, wherein the ultrasonic radar and the looking-around camera are arranged on a bumper and a rearview mirror, ensuring that a sensor sensing range covers an area where a low-speed object may cut in.
6. A low speed target cut-in determination system, comprising: ultrasonic radar, look around camera and intelligent driving controller, ultrasonic radar, look around the camera and arrange respectively at whole car bumper, rear-view mirror, intelligent driving controller includes:
a first judging module configured to judge whether a vehicle speed condition is satisfied;
the second judging module is configured to simultaneously receive and judge the sensing results of the ultrasonic radar and the looking-around camera, if one target is detected by the sensing results of the ultrasonic radar and the looking-around camera at the same time, the target position information is used, otherwise, the sensing information is not used in filtering;
and the third judging module is configured to judge whether the safety logic condition is met according to the detected obstacle distance and speed information, if so, braking and prompting are carried out, otherwise, the safety risk is avoided, and the safety logic condition is not processed.
7. The system of claim 6, wherein the look-around camera is based on a deep learning algorithm, and the target is identified in a camera image, and the type of the target and the relative position of the target are output to the intelligent driving controller through the position comparison calculation of the connection point of the target and the ground and the pixel point calibrated in advance by the camera.
CN202210036815.XA 2022-01-13 2022-01-13 Low-speed target cut-in judging method and system Pending CN116476819A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210036815.XA CN116476819A (en) 2022-01-13 2022-01-13 Low-speed target cut-in judging method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210036815.XA CN116476819A (en) 2022-01-13 2022-01-13 Low-speed target cut-in judging method and system

Publications (1)

Publication Number Publication Date
CN116476819A true CN116476819A (en) 2023-07-25

Family

ID=87214228

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210036815.XA Pending CN116476819A (en) 2022-01-13 2022-01-13 Low-speed target cut-in judging method and system

Country Status (1)

Country Link
CN (1) CN116476819A (en)

Similar Documents

Publication Publication Date Title
EP3342661B1 (en) Sensor integration based pedestrian detection and pedestrian collision prevention apparatus and method
CN110488319B (en) Ultrasonic wave and camera fusion-based collision distance calculation method and system
CN106004879B (en) Vehicle driving assistance system and control method thereof
EP1338477B1 (en) Obstacle detection device for vehicle and method thereof
AU2015295788B2 (en) Enhanced blind spot detection for vehicle with trailer
EP2302412B1 (en) System and method for evaluation of an automotive vehicle forward collision threat
CN109305165B (en) Intelligent ultrasonic system, vehicle rear collision warning device and control method thereof
JP6332384B2 (en) Vehicle target detection system
JP3358709B2 (en) Driving support device for vehicles
KR20200047886A (en) Driver assistance system and control method for the same
CN109204311B (en) Automobile speed control method and device
US20080189040A1 (en) Collision Avoidance System
US20120101704A1 (en) Method for operating at least one sensor of a vehicle and vehicle having at least one sensor
US11926316B2 (en) Collision avoidance assist apparatus
JP6384534B2 (en) Vehicle target detection system
JP6332383B2 (en) Vehicle target detection system
US11358600B2 (en) Control system and control method for a motor vehicle for processing multiply reflected signals
CN111332264A (en) Automatic emergency braking control method and system
JP4872517B2 (en) Obstacle recognition device
KR20160131196A (en) Device for detecting an obstacle
Jumaa et al. Advanced driver assistance system (ADAS): A review of systems and technologies
US20230182722A1 (en) Collision avoidance method and apparatus
US11964691B2 (en) Vehicular control system with autonomous braking
CN116476819A (en) Low-speed target cut-in judging method and system
KR101127702B1 (en) Integrated Side/Rear Safety System for Automobile

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination