CN103909926B - The lateral collision-proof method of vehicle, equipment and system - Google Patents

The lateral collision-proof method of vehicle, equipment and system Download PDF

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Publication number
CN103909926B
CN103909926B CN201410126079.2A CN201410126079A CN103909926B CN 103909926 B CN103909926 B CN 103909926B CN 201410126079 A CN201410126079 A CN 201410126079A CN 103909926 B CN103909926 B CN 103909926B
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China
Prior art keywords
vehicle
collision
anticollision
vehicles
signal
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CN103909926A (en
Inventor
撒兴泼
甄龙豹
岳国辉
陈现岭
张凯
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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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 kind of lateral collision-proof method of vehicle, equipment and system, the method includes: receive vehicle Lateral Collision Avoidance enabling signal;In the case of receiving described vehicle Lateral Collision Avoidance enabling signal, it is judged that whether there are other vehicles in detection range;In the case of there are other vehicles in detection range, measure described vehicle and the relative velocity of other vehicles, relative distance and relative angle;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 the collision time calculated.The present invention can effectively prevent the generation of security incident, improves the safety in vehicle travel process, intelligent, and practical value is high.

Description

The lateral collision-proof method of vehicle, equipment and system
Technical field
The present invention relates to automotive field, in particular it relates to a kind of lateral collision-proof method of vehicle, equipment and system.
Background technology
Intersection and the multiple location being car accident, existing Lateral Collision Avoidance technology is mainly by utilizing detection surrounding and the road vehicle situation in real time such as multifunctional pick-up head, ultrasonic radar, when photographic head or ultrasonic radar detect vehicle-surroundings have potential risk of collision time, suitable lateral distance is kept by the prompting driver such as sound, light flash, thus preventing vehicle and vehicle, vehicle collides with road guard.
But existing lateral collision early warning system is primarily present following problems: (1), under car speed faster crossing, system cannot detect effective target in time, it is impossible to play the effect of detection target;(2) under dangerous road conditions, system only possesses warning function and any active can not be taked to prevent the action that collision occurs, and i.e. yet suffers from potential safety hazard.Prior art i.e. lacks the lateral collision-proof method of vehicle, equipment and system that a kind of intellectuality, safety are high.
Summary of the invention
The problems referred to above existed for prior art, the invention provides a kind of lateral collision-proof method of vehicle, and the method includes: receive vehicle Lateral Collision Avoidance enabling signal;In the case of receiving described vehicle Lateral Collision Avoidance enabling signal, it is judged that whether there are other vehicles in detection range;In the case of there are other vehicles in detection range, measure described vehicle and the relative velocity of other vehicles, relative distance and relative angle;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 the collision time calculated.
Correspondingly, present invention also offers a kind of lateral anti-collision equipment of vehicle, this equipment includes: receiver module, is used for receiving vehicle Lateral Collision Avoidance enabling signal;Measurement module, whether there are other vehicles in judging detection range in the case of receiving described vehicle Lateral Collision Avoidance enabling signal, and in the case of there are other vehicles in detection range, measure described vehicle and the relative velocity of other vehicles, relative distance and relative angle;And processing module, for calculating the collision time between described vehicle and other vehicles according to described relative velocity, relative distance and relative angle, and according to the collision time output anticollision operation signal calculated.
Additionally, present invention also offers a kind of lateral collision avoidance system of vehicle, this system includes: GPS navigator, is used for measuring traffic information and exporting vehicle Lateral Collision Avoidance enabling signal;Fog lamp and rain sensor, be used for detecting whether external environment has mist or rain, and export external environmental signals;Tired detection device, for detecting the change that turns to of steering wheel unit interval, and exports driver fatigue state signal;According to the lateral anti-collision equipment of the vehicle described in embodiment of the present invention;And ESP electronic control unit, carry out anticollision operation for the anticollision operation signal in response to the output of described vehicle lateral anti-collision equipment.
Use the lateral collision-proof method of vehicle that the present invention provides, equipment and system, in the case of other vehicles can being there are in judging detection range, by measuring the relative velocity of vehicle and other vehicles driven, relative distance, and relative angle calculates the collision time (time interval that i.e. distance collision occurs) between vehicle and other vehicles driven, and (such as instrument icon flicker is reported to the police to carry out anticollision operation according to the collision time calculated, audio alert, self-actuating brake etc.), being driver takes measures (or in the case of driver does not take measures in the very first time, equipment provided by the present invention and/or system positive action), prevent the generation of security incident, improve the safety in vehicle travel process, intelligent.
Other features and advantages of the present invention will be described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of description, is used for explaining the present invention, but is not intended that limitation of the present invention together with detailed description below.In the accompanying drawings:
Fig. 1 is the structural representation of the lateral anti-collision equipment of the example vehicle according to one embodiment of the present invention;And
Fig. 2 is the flow chart of the lateral collision-proof method of the example vehicle according to 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 detailed description of the invention of the present invention is described in detail.It should be appreciated that detailed description of the invention described herein is merely to illustrate and explains the present invention, it is not limited to the present invention.
Fig. 1 is the structural representation of the lateral anti-collision equipment of the example vehicle according to one embodiment of the present invention, and this equipment may include that receiver module 100, is used for receiving vehicle Lateral Collision Avoidance enabling signal;
Measurement module 200, whether there are other vehicles in judging detection range in the case of receiving described vehicle Lateral Collision Avoidance enabling signal, and in the case of there are other vehicles in detection range, measure described vehicle and the relative velocity of other vehicles, relative distance and relative angle;And processing module 300, for calculating the collision time between described vehicle and other vehicles according to described relative velocity, relative distance and relative angle, and according to the collision time output anticollision operation signal calculated.
Specifically, the lateral anti-collision equipment of vehicle of the offer of the present invention can be to have any suitable device of above-mentioned functions, such as, ultrasonic radar, millimetre-wave radar etc..Preferably, it can be that millimetre-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, is affected less by extraneous adverse circumstances, speed) has more practical value.
The lateral anti-collision equipment of example vehicle may be mounted at the most suitable position in vehicle (such as, it is arranged on vehicle front both sides, the most more convenient measurement has the vehicle close), it can be directly integrated on vehicle on vehicle production streamline, it is also possible to car owner the most individually buys installation.Car owner or driver can start this equipment as required, such as when vehicle drives to the bigger intersection of vehicle flowrate, do not has the traffic accidents flash points such as the section of traffic signal indicating lamp, intersection, railway crossing, start button by the lateral anticollision of corresponding vehicle on pressing instrument dial plate, or export vehicle Lateral Collision Avoidance enabling signal by various modes such as acoustic control output orders.
According to one embodiment of the present invention, for more intelligent and hommization, the lateral anti-collision equipment of vehicle that the present invention provides can be connected with the GPS navigator (not shown) in vehicle, the places such as above-mentioned intersection are driven to when vehicle, road surface road information and the three-dimensional vehicle locus (i.e. according to traffic information) of real-time detection that this GPS navigator can provide according to electronic chart judge that vehicle has arrived at above-mentioned position, and automatically send vehicle Lateral Collision Avoidance enabling signal to this equipment, this equipment is made to start, and it is no longer necessary to driver or car owner manually boots.
Then, the receiver module 100 of the lateral anti-collision equipment of vehicle that the present invention provides can receive above-mentioned vehicle Lateral Collision Avoidance enabling signal, enters mode of operation.Afterwards, whether measurement module 200 can exist other vehicles in judging detection range in the case of connected receiver module 100 receives described vehicle Lateral Collision Avoidance enabling signal, such as, this measurement module 200 can include launching antenna and reception antenna to launch the electromagnetic wave that in the range of electromagnetic wave is measured, vehicle is reflected back with reception, thus in judging detection range, whether there are other vehicles, in the case of there are other vehicles in detection range afterwards, measure the relative velocity of described vehicle and other vehicles, relative distance, and relative angle (is such as calculated by Doppler's computing formula, principle is identical with prior art, in order to not obscure protection scope of the present invention, no longer repeat at this);And processing module 300, it is connected with measurement module 200, for calculating the collision time (time interval that i.e. distance collision occurs) between described vehicle and other vehicles according to described relative velocity, relative distance and relative angle, and according to the collision time output anticollision operation signal calculated.Preferably, the operation of described anticollision includes that instrument icon flashes one or more in warning, audio alert, self-actuating brake.
Such as, output anticollision operation signal can be exported on instrumental panel by this equipment, i.e. can realize the flicker of instrument icon and report to the police;It is output to alarm device (such as buzzer etc.) and audio alert can be realized;It is output to ESP electronic control unit, it is possible to achieve self-actuating brake, improves the safety in vehicle travel process and intelligent.
Additionally, processing module 300 can include numerous embodiments according to the collision time output anticollision operation signal calculated.According to one embodiment of the present invention, processing module 300 can by the collision time that calculated with multiple advanced warning grades (such as, first advanced warning grade, the second advanced warning grade, the 3rd advanced warning grade) compare, in the case of the collision time calculated is corresponding with the one in the plurality of advanced warning grade, carry out the anticollision operation under this advanced warning grade.
Such as, when the collision time calculated is less than the first advanced warning grade (such as, 5 seconds), then processing module 300 judges that now there is the probability with other vehicle collisions needs alerting drivers, and therefore output anticollision operation signal realizes the flicker warning of instrument icon;When the collision time calculated is less than the second advanced warning grade (such as, 3 seconds), then processing module 300 judges that now risk of collision improves, and needs to warn further danger, and therefore output anticollision operation signal realizes audio alert or audio alert and the combination of instrument icon flicker warning;When the collision time calculated is less than the 3rd advanced warning grade (such as, 1 second), then processing module 300 judges the most probably to collide, and needs to take immediate steps, and therefore output anticollision operation signal realizes self-actuating brake, slows down risk of collision.
In order to further provide for the intelligent of the lateral anti-collision equipment of vehicle, improve anti-collision safety coefficient, present invention also offers a kind of embodiment, this embodiment has been additionally contemplates that the impact on driver's reflecting time of external environment and driver fatigue state, i.e. 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 adjust the plurality of advanced warning grade according at least one 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; such as; receive the external environmental signals from fog lamp and rain sensor (whether detection external environment has mist or rain); and reception detects the driver fatigue state signal of device from fatigue, and (that detects the steering wheel unit interval turns to change; the degree of fatigue of reflection driver); above-mentioned fog lamp, rain sensor, tired detection device are identical with of the prior art, do not repeat them here to not obscure protection scope of the present invention.Afterwards, processing module 300 can adjust the plurality of advanced warning grade according at least one in described external environmental signals and described driver fatigue state signal, such as, when the external environmental signals received shows that current running state is without rain, mist (i.e. pilot's line of vision is good), driver fatigue state signal shows that driver attention concentrates (i.e. level of fatigue is low), then can not adjust advanced warning grade with processing module 300.When the external environmental signals received shows that current running state is rainy and/or mist (i.e. pilot's line of vision is poor), or driver fatigue state signal shows that driver attention does not concentrates (i.e. level of fatigue is high), then can adjust advanced warning grade with processing module 300, such as, extend each advanced warning grade time (such as, the first advanced warning grade extend to 6 seconds, the second advanced warning grade extend to 4 seconds, the 3rd advanced warning grade extend to 2 seconds).Use this embodiment, can automatically adjust advanced warning grade value for the change of any one or both in external environment and driver fatigue state, corresponding with the reflecting time with current driver's, more intelligent and hommization.
Should be understood that, time set by above-mentioned multiple advanced warning grade is exemplary but but not limited embodiment, those skilled in the art can set the suitable advanced warning grade time according to practical situation, and, external environmental signals can also include the time signal controlling the reflecting time (daytime travels or night running) of electronic unit in vehicle, or any suitable external environmental signals that driver's reflecting time can be impacted such as the signal (such as surrounding be noisy or quietly) of reflection external environmental sounds environment, and above-mentioned adjustment operation is can be carried out when processing module receives these signals, this is not defined by the present invention.
Fig. 2 is the flow chart of the lateral collision-proof method of the example vehicle according to one embodiment of the present invention, as in figure 2 it is shown, the method includes:
In step 1001, it may be judged whether receive vehicle Lateral Collision Avoidance enabling signal;
In step 1002, in the case of receiving described vehicle Lateral Collision Avoidance enabling signal, it is judged that whether there are other vehicles in detection range;
In step 1003, in the case of there are other vehicles in detection range, measure described vehicle and the relative velocity of other vehicles, relative distance and relative angle;
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 the collision time calculated.
Preferably, described vehicle Lateral Collision Avoidance enabling signal is sent according to traffic information by the GPS navigator of described vehicle.
Preferably, the operation of described anticollision includes that instrument icon flashes one or more in warning, audio alert, self-actuating brake.
Preferably, described according to the collision time calculated carry out anticollision operation include: the collision time calculated is compared with multiple advanced warning grades, in the case of the collision time calculated is corresponding with the one in the plurality of advanced warning grade, carry out the anticollision operation under this advanced warning grade.
Preferably, the method also includes receiving at least one in external environmental signals and driver fatigue state signal, and adjusts the plurality of advanced warning grade according at least one in described external environmental signals and described driver fatigue state signal.
Said method step carries out anticollision operation according to the collision time calculated, to the selection of advanced warning grade and the embodiment that arranges etc. as it has been described above, do not repeat them here.
Correspondingly, present invention also offers a kind of vehicle according to embodiment of the present invention lateral collision avoidance system (not shown), this system includes: GPS navigator, is used for measuring traffic information and exporting vehicle Lateral Collision Avoidance enabling signal;Fog lamp and rain sensor, be used for detecting whether external environment has mist or rain, and export external environmental signals;Tired detection device, for detecting the change that turns to of steering wheel unit interval, and exports driver fatigue state signal;The lateral anti-collision equipment of vehicle provided according to embodiment of the present invention;And ESP electronic control unit, carry out anticollision operation for the anticollision operation signal in response to the output of described vehicle lateral anti-collision equipment.It should be appreciated that this system can also include that control electronic unit etc. in vehicle provides any suitable car-mounted device or the assembly of signal as mentioned above for the lateral anti-collision equipment of vehicle.
In addition, present invention also offers a kind of vehicle according to embodiment of the present invention, this vehicle not only can the lateral anti-collision equipment of the vehicle according to embodiment of the present invention included as described above and system, and this vehicle can also use the lateral collision-proof method of above-mentioned vehicle to carry out above-mentioned anticollision operation.
Use the lateral collision-proof method of vehicle that the present invention provides, equipment and system, in the case of other vehicles can being there are in judging detection range, by measuring the relative velocity of vehicle and other vehicles driven, relative distance, and relative angle calculates the collision time (time interval that i.e. distance collision occurs) between vehicle and other vehicles driven, and (such as instrument icon flicker is reported to the police to carry out anticollision operation according to the collision time calculated, audio alert, self-actuating brake etc.), being driver takes measures (or in the case of driver does not take measures in the very first time, equipment provided by the present invention and/or system positive action), prevent the generation of security incident, improve the safety in vehicle travel process, intelligent.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing; but; the present invention is not limited to the detail in above-mentioned embodiment; in the technology concept of the present invention; technical scheme can be carried out multiple simple variant, these simple variant belong to protection scope of the present invention.
It is further to note that, each concrete technical characteristic described in above-mentioned detailed description of the invention, in the case of reconcilable, can be combined by any suitable means, in order to avoid unnecessary repetition, various possible compound modes are illustrated by the present invention the most separately.
Additionally, can also carry out combination in any between the various different embodiment of the present invention, as long as it is without prejudice to the thought of the present invention, it should be considered as content disclosed in this invention equally.

Claims (6)

1. the lateral collision-proof method of vehicle, it is characterised in that the method includes:
Receive vehicle Lateral Collision Avoidance enabling signal;
In the case of receiving described vehicle Lateral Collision Avoidance enabling signal, it is judged that whether deposit in detection range At other vehicles;
In the case of there are other vehicles in detection range, measure described vehicle relative with other vehicles Speed, relative distance and relative angle;
Described vehicle and other vehicles are calculated according to described relative velocity, relative distance and relative angle Between collision time, and carry out anticollision operation, wherein said basis according to the collision time calculated The collision time calculated carries out anticollision operation and includes: collision time and the multiple early warning etc. that will be calculated Level compares, in the situation that the collision time calculated is corresponding with the one in the plurality of advanced warning grade Under, carry out the anticollision operation under this advanced warning grade;
The method also includes receiving at least one in external environmental signals and driver fatigue state signal, And adjust according at least one in described external environmental signals and described driver fatigue state signal The plurality of advanced warning grade.
Method the most according to claim 1, it is characterised in that described vehicle Lateral Collision Avoidance starts Signal is sent according to traffic information by the GPS navigator of described vehicle.
Method the most according to claim 1, it is characterised in that the operation of described anticollision includes instrument Sheet icon flashes one or more in warning, audio alert, self-actuating brake.
4. the lateral anti-collision equipment of vehicle, it is characterised in that this equipment includes:
Receiver module, is used for receiving vehicle Lateral Collision Avoidance enabling signal;
Measurement module, for judging detection in the case of receiving described vehicle Lateral Collision Avoidance enabling signal In the range of whether there are other vehicles, and measure in the case of there are other vehicles in detection range described Vehicle and the relative velocity of other vehicles, relative distance and relative angle;And
Processing module, described for calculating according to described relative velocity, relative distance and relative angle Collision time between vehicle and other vehicles, and according to the collision time output anticollision operation calculated Signal, wherein said according to the collision time calculated carry out anticollision operation include: by touching of being calculated Time of hitting compares with multiple advanced warning grades, at the collision time calculated and the plurality of advanced warning grade In one correspondence in the case of, carry out under this advanced warning grade anticollision operation;
Described receiver module is additionally operable to receive in external environmental signals and driver fatigue state signal extremely Few one;And described processing module is additionally operable to according to described external environmental signals and described driver fatigue At least one in status signal adjusts the plurality of advanced warning grade.
Equipment the most according to claim 4, it is characterised in that described vehicle Lateral Collision Avoidance starts Signal is sent according to traffic information by the GPS navigator of described vehicle, and described anticollision operation bag Include instrument icon flicker warning, audio alert, self-actuating brake in one or more.
6. the lateral collision avoidance system of vehicle, it is characterised in that this system includes:
GPS navigator, is used for measuring traffic information and exporting vehicle Lateral Collision Avoidance enabling signal;
Fog lamp and rain sensor, be used for detecting whether external environment has mist or rain, and export external environment Signal;
Tired detection device, for detecting the change that turns to of steering wheel unit interval, and it is tired to export driver Labor status signal;
The lateral anti-collision equipment of vehicle according to claim 5;And
ESP electronic control unit, for the anticollision in response to the output of described vehicle lateral anti-collision equipment Operation signal carries out anticollision operation.
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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