CN103909926A - Vehicle lateral collision prevention method, device and system - Google Patents

Vehicle lateral collision prevention method, device and system Download PDF

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Publication number
CN103909926A
CN103909926A CN201410126079.2A CN201410126079A CN103909926A CN 103909926 A CN103909926 A CN 103909926A CN 201410126079 A CN201410126079 A CN 201410126079A CN 103909926 A CN103909926 A CN 103909926A
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China
Prior art keywords
vehicle
anticollision
vehicles
signal
equipment
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CN201410126079.2A
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Chinese (zh)
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CN103909926B (en
Inventor
撒兴泼
甄龙豹
岳国辉
陈现岭
张凯
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长城汽车股份有限公司
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • B60W2554/801Lateral distance

Abstract

The invention discloses a vehicle lateral collision prevention method, device and system. The method includes: receiving a vehicle side collision prevention start signal; when the vehicle side collision prevention start signal is received, judging whether other vehicles are in a detection range or not; when other vehicles are in the detection range, measuring relative speed, relative distance and relative angle of the vehicle relative to other vehicles; calculating collision time of the vehicle with other vehicles according to the relative speed, relative distance and relative angle, and performing collision prevention operations according to the calculated collision time. The vehicle lateral collision prevention method, device and system has the advantages that safety accidents can be prevented effectively, driving the vehicles is safer and more intelligent, and practical value is high.

Description

Vehicle side is to collision-proof method, equipment and system
Technical field
The present invention relates to automotive field, particularly, relate to a kind of vehicle side to collision-proof method, equipment and system.
Background technology
Four corners be the multiple location of car accident, existing Lateral Collision Avoidance technology is mainly by utilizing multifunctional pick-up head, ultrasonic radar etc. to detect in real time surrounding environment and on-road vehicle situation, in the time that camera or ultrasonic radar detect vehicle-surroundings and have potential collision risk, keep suitable lateral distance by the prompting such as sound, light flash chaufeur, thereby prevent vehicle and vehicle, vehicle and road guard bump.
But mainly there is following problems in existing side direction anticollision forewarn system: (1), at car speed faster under crossing, system cannot detect effective target in time, cannot play the effect of the detection of a target; (2) under dangerous road conditions, system only possesses warning function and can not take any active to prevent from the action that collision occurs from still having potential safety hazard.Be in prior art, to lack a kind of intellectuality, safe vehicle side to collision-proof method, equipment and system.
Summary of the invention
The problems referred to above that exist for prior art, the invention provides a kind of vehicle side to collision-proof method, and the method comprises: receive vehicle Lateral Collision Avoidance actuation signal; In the situation that receiving described vehicle Lateral Collision Avoidance actuation signal, judge in detection range, whether there are other vehicles; The in the situation that of there are other vehicles in detection range, measure relative velocity, relative distance and the relative angle of described vehicle and other vehicles; Calculate the collision time between described vehicle and other vehicles according to described relative velocity, relative distance and relative angle, and carry out anticollision operation according to calculated collision time.
Correspondingly, the present invention also provides a kind of vehicle side to anticollision equipment, and this equipment comprises: receiver module, for receiving vehicle Lateral Collision Avoidance actuation signal; Measurement module, for whether there are other vehicles in the situation that receives described vehicle Lateral Collision Avoidance actuation signal judges detection range, and there are other vehicles in detection range in the situation that, measure relative velocity, relative distance and the relative angle of described vehicle and other vehicles; And processing module, for calculate the collision time between described vehicle and other vehicles according to described relative velocity, relative distance and relative angle, and according to calculated collision time output anticollision operation signal.
In addition, the present invention also provides a kind of vehicle side to collision avoidance system, and this system comprises: GPS navigation instrument, for measuring traffic information and exporting vehicle Lateral Collision Avoidance actuation signal; Whether fog lamp and rain sensor, have mist or rain for detection of external environment, and export external environmental signals; Tired detector, for detection of the variation that turns to of bearing circle unit time, and exports driver fatigue state signal; According to the vehicle side described in embodiment of the present invention to anticollision equipment; And ESP electronic control unit, for carrying out anticollision operation in response to described vehicle side to the anticollision operation signal of anticollision equipment output.
Adopt vehicle side provided by the invention to collision-proof method, equipment and system, can be judging there are other vehicles in detection range in the situation that, the vehicle of driving by measurement and the relative velocity of other vehicles, relative distance, and relative angle calculates the collision time (i.e. the time gap that distance collision occurs) between vehicle and other vehicles of driving, and (for example the flicker of instrument icon is reported to the police to carry out anticollision operation according to calculated collision time, audio alert, self-actuating brake etc.), that chaufeur is taken measures in the very first time (or in the situation that chaufeur is not taken measures, by equipment provided by the invention and/or system positive action), prevent the generation of safety misadventure, improve the safety in Vehicle Driving Cycle process, intelligent.
Other features and advantages of the present invention are described in detail the detailed description of the invention part subsequently.
Brief description of the drawings
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms a part for specification sheets, is used from explanation the present invention, but is not construed as limiting the invention with detailed description of the invention one below.In the accompanying drawings:
Fig. 1 is according to the structural representation of the example vehicle side direction anticollision equipment of one embodiment of the present invention; And
Fig. 2 is according to the diagram of circuit of the example vehicle side direction collision-proof method of one embodiment of the present invention.
Description of reference numerals
100 receiver module 200 measurement module 300 processing modules
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, detailed description of the invention described herein only, for description and interpretation the present invention, is not limited to the present invention.
Fig. 1 is that this equipment can comprise according to the structural representation of the example vehicle side direction anticollision equipment of one embodiment of the present invention: receiver module 100, for receiving vehicle Lateral Collision Avoidance actuation signal;
Measurement module 200, for whether there are other vehicles in the situation that receives described vehicle Lateral Collision Avoidance actuation signal judges detection range, and there are other vehicles in detection range in the situation that, measure relative velocity, relative distance and the relative angle of described vehicle and other vehicles; And processing module 300, for calculate the collision time between described vehicle and other vehicles according to described relative velocity, relative distance and relative angle, and according to calculated collision time output anticollision operation signal.
Specifically, the vehicle side providing of the present invention can be any suitable device with above-mentioned functions to anticollision equipment, for example, and ultrasonic radar, millimeter wave radar etc.Preferably, it can be that millimeter wave radar (its effective scope of detection can reach 160m and be far longer than the investigative range of ultrasonic radar, and stability is strong, be subject to the impact of extraneous harsh environment, the speed of a motor vehicle less) has more practical value.
Example vehicle side direction anticollision equipment (for example can be arranged on any suitable position in vehicle, be arranged on vehicle front both sides, whether more convenient measurement side direction has the vehicle close), it can directly be integrated on vehicle on vehicle production conveyor line, also can car owner buy and install separately as required.Car owner or chaufeur can start this equipment as required, for example, when Vehicle Driving Cycle is during to traffic accidents flash points such as the larger four corners of vehicle flowrate, the section that there is no traffic signal indicating lamp, four corners, railway crossings, start button by the corresponding vehicle side on pressing instrument dial plate to anticollision, or by variety of way output vehicle Lateral Collision Avoidance actuation signals such as acoustic control output commands.
According to one embodiment of the present invention, for more intelligent and hommization, vehicle side provided by the invention can be connected with the GPS navigation instrument (not shown) in vehicle to anticollision equipment, when Vehicle Driving Cycle is to places such as above-mentioned four cornerss, the road surface road information that this GPS navigation instrument can provide according to electronic chart and the vehicle three-dimensional space position of real-time detection (according to traffic information) are judged vehicle and have been arrived above-mentioned position, and automatically send vehicle Lateral Collision Avoidance actuation signal to this equipment, make this device start, and no longer need chaufeur or car owner to manually boot.
Then, vehicle side provided by the invention can receive above-mentioned vehicle Lateral Collision Avoidance actuation signal to the receiver module 100 of anticollision equipment, enters mode of operation.Afterwards, the situation that measurement module 200 can receive described vehicle Lateral Collision Avoidance actuation signal at connected receiver module 100 judges in detection range whether have other vehicles, for example, this measurement module 200 can comprise that emitting antenna and receiving wire carry out emitting electromagnetic wave and receive the electromagnetic wave that in measurement range, vehicle is reflected back, thereby judge and in detection range, whether have other vehicles, the in the situation that of there are other vehicles afterwards in detection range, measure the relative velocity of described vehicle and other vehicles, relative distance, and relative angle (for example calculates by Doppler's computing formula, principle is identical with prior art, in order not obscure protection scope of the present invention, no longer repeat at this), and processing module 300, be connected with measurement module 200, for calculate the collision time (i.e. the time gap that distance collision occurs) between described vehicle and other vehicles according to described relative velocity, relative distance and relative angle, and according to calculated collision time output anticollision operation signal.Preferably, described anticollision operation comprises one or more in instrument icon flicker warning, audio alert, self-actuating brake.
For example, this equipment can output to output anticollision operation signal on gauge panel, can realize the flicker of instrument icon and report to the police; Outputed to warning device (such as buzzer phone etc.) and can be realized audio alert; Outputed to ESP electronic control unit, can be realized self-actuating brake, improved safety in Vehicle Driving Cycle process and intelligent.
In addition, processing module 300 can comprise numerous embodiments according to calculated collision time output anticollision operation signal.According to one embodiment of the present invention, processing module 300 can be by calculated collision time and multiple advanced warning grade (for example, the first advanced warning grade, the second advanced warning grade, the 3rd advanced warning grade) compare, in the case of calculated collision time is corresponding with one in described multiple advanced warning grades, carry out the anticollision operation under this advanced warning grade.
For example, for example, when calculated collision time (is less than the first advanced warning grade, 5 seconds), processing module 300 judges now to exist with the possibility of other vehicle collisions needs alerting drivers, therefore exports anticollision operation signal and realizes instrument icon flicker warning; For example, when calculated collision time (is less than the second advanced warning grade, 3 seconds), processing module 300 judges that now risk of collision improves, and needs further warning dangerous, therefore exports anticollision operation signal and realizes the combination that audio alert or audio alert and the flicker of instrument icon are reported to the police; For example, when calculated collision time is less than the 3rd advanced warning grade (, 1 second), processing module 300 judges now and probably bumps, and need to take immediate steps, and therefore exports anticollision operation signal and realizes self-actuating brake, slows down risk of collision.
For intelligent to anticollision equipment of vehicle side is further provided, improve anticollision safety factor, the present invention also provides a kind of embodiment, this embodiment has also been considered external environment and the impact of driver fatigue state on chaufeur reflecting time, and receiver module 100 can also receive at least one in external environmental signals and driver fatigue state signal; And described processing module 300 can also be according to the described multiple advanced warning grades of at least one adjustment in described external environmental signals and described driver fatigue state signal.
Specifically; receiver module 100 can also receive at least one in external environmental signals and driver fatigue state signal; for example; receive the external environmental signals (detect external environment and whether have mist or rain) from fog lamp and rain sensor; and the driver fatigue state signal receiving from tired detector (detects the variation that turns to of bearing circle unit time; the degree of fatigue of reflection chaufeur); above-mentioned fog lamp, rain sensor, tired detector, with of the prior art identical, do not repeat them here in order not obscure protection scope of the present invention.Afterwards, processing module 300 can be according to the described multiple advanced warning grades of at least one adjustment in described external environmental signals and described driver fatigue state signal, for example, be without rain, mist (being that pilot's line of vision is good) when the external environmental signals receiving shows current driving state, driver fatigue state signal shows that chaufeur attention concentrates (being that tired grade is low), can processing module 300 can not adjust advanced warning grade.Be rainy and/or mist (being that pilot's line of vision is poor) when the external environmental signals receiving shows current driving state, or driver fatigue state signal shows chaufeur absent minded (being that tired grade is high), can processing module 300 can adjust advanced warning grade, for example, extend the time (for example, the first advanced warning grade extends to and 6 seconds, the second advanced warning grade extended to for 4 seconds, the 3rd advanced warning grade extended to for 2 seconds) of each advanced warning grade.Adopt this embodiment, can automatically adjust advanced warning grade value for the variation of any one or both in external environment and driver fatigue state, with corresponding with the reflecting time of current driver's, more intelligent and hommization.
Should be understood that, the time that above-mentioned multiple advanced warning grade sets is exemplary but non-limitation embodiment, those skilled in the art can set the suitable advanced warning grade time according to actual conditions, and, external environmental signals can also comprise the time signal from the reflecting time of controlling electronic unit in vehicle (travelling daytime or night running), or any suitable external environmental signals that can impact chaufeur reflecting time such as the signal of reflection external environmental sounds environment (such as surrounding environment be noisy or quietly), and in the time that receiving these signals, processing module can carry out above-mentioned adjustment operation, the present invention does not limit this.
Fig. 2 is that as shown in Figure 2, the method comprises according to the diagram of circuit of the example vehicle side direction collision-proof method of one embodiment of the present invention:
In step 1001, judge whether to receive vehicle Lateral Collision Avoidance actuation signal;
In step 1002, in the situation that receiving described vehicle Lateral Collision Avoidance actuation signal, judge in detection range, whether there are other vehicles;
In step 1003, the in the situation that of there are other vehicles in detection range, measure relative velocity, relative distance and the relative angle of described vehicle and other vehicles;
In step 1004, calculate the collision time between described vehicle and other vehicles according to described relative velocity, relative distance and relative angle, and carry out anticollision operation according to calculated collision time.
Preferably, described vehicle Lateral Collision Avoidance actuation signal is sent according to traffic information by the GPS navigation instrument of described vehicle.
Preferably, described anticollision operation comprises one or more in instrument icon flicker warning, audio alert, self-actuating brake.
Preferably, describedly carry out anticollision operation according to calculated collision time and comprise: calculated collision time and multiple advanced warning grade are compared, in the case of calculated collision time is corresponding with one in described multiple advanced warning grades, carry out the anticollision operation under this advanced warning grade.
Preferably, the method also comprises at least one in reception external environmental signals and driver fatigue state signal, and according to the described multiple advanced warning grades of at least one adjustment in described external environmental signals and described driver fatigue state signal.
The embodiment that carries out anticollision operation, selection to advanced warning grade according to calculated collision time in said method step and arrange etc. is described above, does not repeat them here.
Correspondingly, the present invention also provide a kind of according to the vehicle side of embodiment of the present invention to collision avoidance system (not shown), this system comprises: GPS navigation instrument, for measuring traffic information and exporting vehicle Lateral Collision Avoidance actuation signal; Whether fog lamp and rain sensor, have mist or rain for detection of external environment, and export external environmental signals; Tired detector, for detection of the variation that turns to of bearing circle unit time, and exports driver fatigue state signal; The vehicle side providing according to embodiment of the present invention is to anticollision equipment; And ESP electronic control unit, for carrying out anticollision operation in response to described vehicle side to the anticollision operation signal of anticollision equipment output.Should be understood that, this system can also comprise that in vehicle, controlling electronic unit etc. provides any suitable car-mounted device or the assembly of signal as mentioned above to anticollision equipment for vehicle side.
In addition, it is a kind of according to the vehicle of embodiment of the present invention that the present invention also provides, this vehicle not only can comprise according to the vehicle side of embodiment of the present invention as mentioned above to anticollision equipment and system, and this vehicle also can adopt above-mentioned vehicle side to carry out above-mentioned anticollision operation to collision-proof method.
Adopt vehicle side provided by the invention to collision-proof method, equipment and system, can be judging there are other vehicles in detection range in the situation that, the vehicle of driving by measurement and the relative velocity of other vehicles, relative distance, and relative angle calculates the collision time (i.e. the time gap that distance collision occurs) between vehicle and other vehicles of driving, and (for example the flicker of instrument icon is reported to the police to carry out anticollision operation according to calculated collision time, audio alert, self-actuating brake etc.), that chaufeur is taken measures in the very first time (or in the situation that chaufeur is not taken measures, by equipment provided by the invention and/or system positive action), prevent the generation of safety misadventure, improve the safety in Vehicle Driving Cycle process, intelligent.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each concrete technical characterictic described in above-mentioned detailed description of the invention, in reconcilable situation, can combine by any suitable mode, for fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.
In addition, also can carry out combination in any between various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.

Claims (10)

1. vehicle side, to a collision-proof method, is characterized in that, the method comprises:
Receive vehicle Lateral Collision Avoidance actuation signal;
In the situation that receiving described vehicle Lateral Collision Avoidance actuation signal, judge in detection range, whether there are other vehicles;
The in the situation that of there are other vehicles in detection range, measure relative velocity, relative distance and the relative angle of described vehicle and other vehicles;
Calculate the collision time between described vehicle and other vehicles according to described relative velocity, relative distance and relative angle, and carry out anticollision operation according to calculated collision time.
2. method according to claim 1, is characterized in that, described vehicle Lateral Collision Avoidance actuation signal is sent according to traffic information by the GPS navigation instrument of described vehicle.
3. method according to claim 1, is characterized in that, described anticollision operation comprises one or more in instrument icon flicker warning, audio alert, self-actuating brake.
4. method according to claim 1, is characterized in that, describedly carries out anticollision operation according to calculated collision time and comprises:
Calculated collision time and multiple advanced warning grade are compared, in the case of calculated collision time is corresponding with one in described multiple advanced warning grades, carry out the anticollision operation under this advanced warning grade.
5. method according to claim 4, it is characterized in that, the method also comprises at least one in reception external environmental signals and driver fatigue state signal, and according to the described multiple advanced warning grades of at least one adjustment in described external environmental signals and described driver fatigue state signal.
6. vehicle side, to an anticollision equipment, is characterized in that, this equipment comprises:
Receiver module, for receiving vehicle Lateral Collision Avoidance actuation signal;
Measurement module, for whether there are other vehicles in the situation that receives described vehicle Lateral Collision Avoidance actuation signal judges detection range, and measure relative velocity, relative distance and the relative angle of described vehicle and other vehicles there are other vehicles in detection range in the situation that; And
Processing module, for calculate the collision time between described vehicle and other vehicles according to described relative velocity, relative distance and relative angle, and according to calculated collision time output anticollision operation signal.
7. equipment according to claim 6, it is characterized in that, described vehicle Lateral Collision Avoidance actuation signal is sent according to traffic information by the GPS navigation instrument of described vehicle, and the operation of described anticollision comprises one or more in instrument icon flicker warning, audio alert, self-actuating brake.
8. equipment according to claim 6, is characterized in that, describedly carries out anticollision operation according to calculated collision time and comprises:
Calculated collision time and multiple advanced warning grade are compared, in the case of calculated collision time is corresponding with one in described multiple advanced warning grades, carry out the anticollision operation under this advanced warning grade.
9. equipment according to claim 8, is characterized in that, described receiver module is also for receiving at least one of external environmental signals and driver fatigue state signal; And described processing module also for according to described external environmental signals and described driver fatigue state signal at least one adjust described multiple advanced warning grades.
10. vehicle side, to a collision avoidance system, is characterized in that, this system comprises:
GPS navigation instrument, for measuring traffic information and exporting vehicle Lateral Collision Avoidance actuation signal;
Whether fog lamp and rain sensor, have mist or rain for detection of external environment, and export external environmental signals;
Tired detector, for detection of the variation that turns to of bearing circle unit time, and exports driver fatigue state signal;
Vehicle side according to claim 9 is to anticollision equipment; And
ESP electronic control unit, for carrying out anticollision operation in response to described vehicle side to the anticollision operation signal of anticollision equipment output.
CN201410126079.2A 2014-03-31 2014-03-31 The lateral collision-proof method of vehicle, equipment and system Active CN103909926B (en)

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CN105346528A (en) * 2015-10-28 2016-02-24 东风汽车公司 Forward collision prevention method and system based on electronic hydraulic braking
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