CN104943689A - Control method for active automobile anti-collision system - Google Patents
Control method for active automobile anti-collision system Download PDFInfo
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- CN104943689A CN104943689A CN201510295286.5A CN201510295286A CN104943689A CN 104943689 A CN104943689 A CN 104943689A CN 201510295286 A CN201510295286 A CN 201510295286A CN 104943689 A CN104943689 A CN 104943689A
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- obstacle
- control method
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- vehicle
- collision system
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims abstract description 6
- 230000004888 barrier function Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Classifications
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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, 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
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2554/801—Lateral distance
Abstract
The invention aims to provide a control method for an active automobile anti-collision system. Danger caused by sensor detection accuracy or controller judgment accuracy can be minimized to improve traveling safety. The control method for the active automobile anti-collision system includes the following steps that A, the distance between an object in front of an automobile and an automobile body, the speed difference and the relative acceleration are detected through a sensor; B, a controller judges whether collision danger between the front object and the automobile exists or not according to a detection result of the sensor and grades the judgment accuracy; C, the controller controls the automobile to execute corresponding operations according to different grades of the judgment accuracy. Compared with a traditional control method for the active automobile anti-collision system, on the premise of judging the danger conditions through the sensor, the judgment accuracy is graded, different operations are executed according to the grading result, unnecessary danger avoiding operations are reduced, traveling safety is fully ensured, and the control method is more intelligent.
Description
Technical field
The present invention relates to automobile active safety control technology, be related specifically to a kind of control method of Automotive active anti-collision system.
Background technology
Automotive active anti-collision system detects the distance of the obstacle of vehicle front, pedestrian, vehicle and this car by being arranged on the radar of vehicle front or first-class sensor of making a video recording, control system judges the collision threat of above-mentioned obstacle and this car, when judging to there is collision threat, control system controls this car and implements autobrake.Active collision avoidance system has positive effect for avoiding or reducing collision risk.But due to sensor accuracy of detection, or the problem of collision threat judgment accuracy, Active collision avoidance system occurs controlling error sometimes.Electric pole as vehicle diagonally forward not existed risk of collision is judged as dangerously implementing self-actuating brake thus cause rear-end collision to vehicle, or linen for front obstacle wall or obstacle net are judged as clear, even if there is risk of collision in the distance of obstacle wall or obstacle net and this car does not also implement self-actuating brake, thus cause collision case.Similar error in judgement is by media wide coverage.
Summary of the invention
The object of the invention is the control method proposing a kind of Automotive active anti-collision system, can judge by sensor accuracy of detection or controller the minimizing risk that precision causes, thus improve traffic safety.
The control method of Automotive active anti-collision system of the present invention comprises the steps:
A: utilize the distance between sensor detected vehicle preceding object thing and vehicle body, velocity contrast and relative acceleration;
B: according to the testing result of sensor, controller judges whether preceding object thing and this car exist collision risk, and to judging that precision carries out classification;
C: controller, according to the different stage judging precision, controls vehicle and performs corresponding operation.
Specifically, in described step C, accurately judge rank if be judged as, then autobrake is performed to vehicle or auto-steering is performed to vehicle; If be judged as inaccurate judgement rank, then braking is not performed to vehicle, cause driver to note by means of only warning device.
Further, as follows to judging that precision carries out the method for classification in described step B:
B1: there is obstacle in vehicle front first investigative range, judges that precision is defined as accurately judging rank;
B2: there is obstacle in vehicle front second investigative range, the movement properties of controller disturbance in judgement thing, if the attribute of obstacle is judged as dynamic barrier, is then defined as accurately judging rank by judgement precision; If the attribute of obstacle is judged as static-obstacle thing, then judgement precision is defined as inaccurate judgement rank;
B3: there is obstacle outside vehicle front second investigative range, the movement properties of controller disturbance in judgement thing, if the attribute of obstacle is judged as dynamic barrier, is then defined as inaccurate judgement rank by judgement precision; If the attribute of obstacle is judged as static-obstacle thing, then ignore;
The detection angle of described second investigative range is greater than the detection angle of the first investigative range.
The method of the movement properties of controller disturbance in judgement thing has following three kinds:
1, described controller changes by the relative position detected between obstacle and this car in the given time the movement properties carrying out disturbance in judgement thing.Between obstacle and this car in the given time relative position change distance be greater than the distance calculated by this car speed of a motor vehicle, the schedule time, just illustrate this obstacle self also motion.
2, described controller carrys out the movement properties of disturbance in judgement thing by infrared pickoff.This judgement principle is identical with the principle of the corridor lamp of infrared control, repeats no more herein.
3, described controller carrys out the movement properties of disturbance in judgement thing by the relative velocity detected between obstacle and this car in the given time.If relative velocity is greater than the speed of this car, this obstacle self is just described also in motion.
Further, if have two or three in described B1, B2, B3 tri-kinds of situations simultaneously, then described controller carries out corresponding operation response, to ensure that vehicle there will not be collision risk according to the priority level order of B1 > B2 > B3.
Specifically, described first investigative range is the scope in vehicle front and 0 ~ 30 degree, vehicle left and right side front; Described second investigative range is the scope in 30 ~ 90 degree, vehicle left and right side front, detects with the abundant situation to vehicle front, ensures traffic safety.
The described schedule time is 2 ~ 5s, to reserve the time of hedging operation.
Compared to the control method of traditional Automotive active anti-collision system, the present invention is under the prerequisite utilizing sensor to judge dangerous situation, also to judging that precision has carried out classification, and carry out different operations according to classification results, decrease meaningless hedging operation, and fully ensure that traffic safety, more intelligent.
Accompanying drawing explanation
Fig. 1 is the Active collision avoidance system control method diagram of circuit that the present invention proposes.
Fig. 2 is vehicle detection scope schematic diagram.
Fig. 3,4,5 is the relative position schematic diagram of this car and obstacle in multiple situation in embodiment 1.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, the effect and principle of work etc. of the specific embodiment of the present invention as the mutual alignment between the shape of involved each component, structure, each several part and annexation, each several part are described in further detail.
Embodiment 1:
As shown in Figure 1, the control method of the Automotive active anti-collision system of the present embodiment comprises the steps:
A: utilize the distance between sensor detected vehicle preceding object thing and vehicle body, velocity contrast and relative acceleration;
B: according to the testing result of sensor, controller judges whether preceding object thing and this car exist collision risk, and to judging that precision carries out classification;
C: controller, according to the different stage judging precision, controls vehicle and performs corresponding operation: accurately judge rank if be judged as, then perform autobrake to vehicle or perform auto-steering to vehicle; If be judged as inaccurate judgement rank, then braking is not performed to vehicle, cause driver to note by means of only warning device.
As follows to judging that precision carries out the method for classification in step B:
B1: there is obstacle in vehicle front first investigative range, judges that precision is defined as accurately judging rank;
B2: there is obstacle in vehicle front second investigative range, the movement properties of controller disturbance in judgement thing, if the attribute of obstacle is judged as dynamic barrier, is then defined as accurately judging rank by judgement precision; If the attribute of obstacle is judged as static-obstacle thing, then judgement precision is defined as inaccurate judgement rank;
B3: there is obstacle outside vehicle front second investigative range, the movement properties of controller disturbance in judgement thing, if the attribute of obstacle is judged as dynamic barrier, is then defined as inaccurate judgement rank by judgement precision; If the attribute of obstacle is judged as static-obstacle thing, then ignore;
The detection angle of described second investigative range is greater than the detection angle of the first investigative range, and specifically, the first investigative range is the scope in vehicle front and 0 ~ 30 degree, vehicle left and right side front; Described second investigative range is the scope in 30 ~ 90 degree, vehicle left and right side front.
In the present embodiment, described controller carrys out the movement properties of disturbance in judgement thing by the relative velocity detected between obstacle and this car in the given time.If relative velocity is greater than the speed of this car, this obstacle self is just described also in motion, if relative velocity equals the speed of this car, just illustrates that this obstacle self does not move.
Further, if have two or three in described B1, B2, B3 tri-kinds of situations simultaneously, then described controller carries out corresponding operation response, to ensure that vehicle there will not be collision risk according to the priority level order of B1 > B2 > B3.
Describe in detail below in conjunction with particular case:
As shown in Figure 2, vehicle B is positioned at the scope dead ahead (being equivalent to the first investigative range) in 15 degree, the left and right side front of this car A, namely vehicle B be equivalent to A dead ahead, vehicle continues to advance and will bump against, therefore the collision risk accuracy of judgement degree for both is accurately, and Active collision avoidance system performs self-actuating brake to this car A.
As shown in Figure 3, obstacle C is positioned on the cross cross road in front on the right side of this car A, obstacle C is 31 ° of angles (being equivalent in the second investigative range) on the right side of this car A, this car A Active collision avoidance system is by detecting the distance between this car A and obstacle C, velocity contrast and relative acceleration, both judgements have collision risk, and Active collision avoidance system disturbance in judgement thing C 31 ° of angles on the right side of this car A, both relative velocities are greater than the speed of this car A, therefore its disturbance in judgement thing C is a moving barrier, collision risk accuracy of judgement degree for both is accurate, Active collision avoidance system performs self-actuating brake to this car A.
As shown in Figure 4, electric pole D is positioned on the roadbed in front on the right side of this car A, electric pole D is 31 ° of angles (being equivalent in the second investigative range) on the right side of this car A, this car A Active collision avoidance system is by detecting the distance between A and D, velocity contrast and relative acceleration, both judgements have collision risk, and Active collision avoidance system detection D and A relative velocity is less than this car self speed, therefore judge that D is a static-obstacle thing, collision risk accuracy of judgement degree for both is inaccurate, Active collision avoidance system does not perform self-actuating brake to this car A or turns to, this car driver is reminded to note by means of only alarm lamp or steering wheel vibration.
Claims (9)
1. a control method for Automotive active anti-collision system, is characterized in that comprising the steps:
A: utilize sensor detected vehicle front and distance, velocity contrast and relative acceleration between side preceding object thing and vehicle body;
B: according to the testing result of sensor, controller judges whether preceding object thing and this car exist collision risk, and to judging that precision carries out classification;
C: controller, according to the different stage judging precision, controls vehicle and performs corresponding operation.
2. the control method of Automotive active anti-collision system according to claim 1, is characterized in that in described step C, accurately judges rank if be judged as, then perform autobrake to vehicle or perform auto-steering to vehicle; If be judged as inaccurate judgement rank, then braking is not performed to vehicle, cause driver to note by means of only warning device.
3. the control method of Automotive active anti-collision system according to claim 1 and 2, is characterized in that in described step B as follows to judging that precision carries out the method for classification:
B1: there is obstacle in vehicle front first investigative range, judges that precision is defined as accurately judging rank;
B2: there is obstacle in vehicle front second investigative range, the movement properties of controller disturbance in judgement thing, if the attribute of obstacle is judged as dynamic barrier, is then defined as accurately judging rank by judgement precision; If the attribute of obstacle is judged as static-obstacle thing, then judgement precision is defined as inaccurate judgement rank;
B3: there is obstacle outside vehicle front second investigative range, the movement properties of controller disturbance in judgement thing, if the attribute of obstacle is judged as dynamic barrier, is then defined as inaccurate judgement rank by judgement precision; If the attribute of obstacle is judged as static-obstacle thing, then ignore;
The detection angle of described second investigative range is greater than the detection angle of the first investigative range.
4. the control method of Automotive active anti-collision system according to claim 3, is characterized in that described controller changes by the relative position detected between obstacle and this car in the given time the movement properties carrying out disturbance in judgement thing.
5. the control method of Automotive active anti-collision system according to claim 3, is characterized in that described controller carrys out the movement properties of disturbance in judgement thing by infrared pickoff.
6. the control method of Automotive active anti-collision system according to claim 3, is characterized in that described controller carrys out the movement properties of disturbance in judgement thing by the relative velocity detected between obstacle and this car in the given time.
7. the control method of Automotive active anti-collision system according to claim 3, if it is characterized in that having two or three in described B1, B2, B3 tri-kinds of situations simultaneously, then described controller carries out corresponding operation response according to the priority level order of B1 > B2 > B3.
8. the control method of Automotive active anti-collision system according to claim 3, is characterized in that described first investigative range is the scope in vehicle front and 0 ~ 30 degree, vehicle left and right side front; Described second investigative range is the scope in 30 ~ 90 degree, vehicle left and right side front.
9. the control method of Automotive active anti-collision system according to claim 3, is characterized in that the described schedule time is 2 ~ 5s.
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| CN201510295286.5A CN104943689B (en) | 2015-06-03 | 2015-06-03 | Control method for active automobile anti-collision system |
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| CN201510295286.5A CN104943689B (en) | 2015-06-03 | 2015-06-03 | Control method for active automobile anti-collision system |
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| CN104943689B CN104943689B (en) | 2017-05-10 |
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Cited By (13)
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| CN105954762A (en) * | 2016-06-06 | 2016-09-21 | 国网河北省电力公司电力科学研究院 | Superhigh anti-collision apparatus for special operation engineering vehicle for electric power measurement, and alarming method thereof |
| CN106696927A (en) * | 2016-12-30 | 2017-05-24 | 智车优行科技（北京）有限公司 | Vehicle and method and device for controlling automatic emergency braking of vehicle |
| CN107578427A (en) * | 2017-07-31 | 2018-01-12 | 深圳市易成自动驾驶技术有限公司 | Detection method, device and the computer-readable recording medium of dynamic barrier |
| CN108604423A (en) * | 2016-02-10 | 2018-09-28 | 株式会社电装 | Driving assist system |
| CN108674412A (en) * | 2018-04-04 | 2018-10-19 | 江苏大学 | A kind of vehicle active collision avoidance method merged using sensor |
| WO2018213957A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Driverless car obstacle avoidance apparatus and method |
| CN108928295A (en) * | 2018-06-25 | 2018-12-04 | 蔡易洁 | Anti-collision hits alarm function System and method for, and the electric carrier using the method |
| CN109278757A (en) * | 2018-10-25 | 2019-01-29 | 广州小鹏汽车科技有限公司 | Vehicle collision detection method and vehicle control system |
| CN109435886A (en) * | 2018-12-05 | 2019-03-08 | 广西农业职业技术学院 | A kind of vehicle security drive aided detection method |
| CN109991976A (en) * | 2019-03-01 | 2019-07-09 | 江苏理工学院 | A method of the unmanned vehicle based on standard particle group's algorithm evades dynamic vehicle |
| CN110262521A (en) * | 2019-07-24 | 2019-09-20 | 北京智行者科技有限公司 | A kind of automatic Pilot control method |
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| US10933865B2 (en) | 2016-02-10 | 2021-03-02 | Denso Corporation | Driving assistance device |
| CN108604423A (en) * | 2016-02-10 | 2018-09-28 | 株式会社电装 | Driving assist system |
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| CN108928295A (en) * | 2018-06-25 | 2018-12-04 | 蔡易洁 | Anti-collision hits alarm function System and method for, and the electric carrier using the method |
| CN109278757A (en) * | 2018-10-25 | 2019-01-29 | 广州小鹏汽车科技有限公司 | Vehicle collision detection method and vehicle control system |
| CN109435886A (en) * | 2018-12-05 | 2019-03-08 | 广西农业职业技术学院 | A kind of vehicle security drive aided detection method |
| CN109435886B (en) * | 2018-12-05 | 2021-02-23 | 广西农业职业技术学院 | Auxiliary detection method for safe driving of automobile |
| CN109991976A (en) * | 2019-03-01 | 2019-07-09 | 江苏理工学院 | A method of the unmanned vehicle based on standard particle group's algorithm evades dynamic vehicle |
| CN110262521A (en) * | 2019-07-24 | 2019-09-20 | 北京智行者科技有限公司 | A kind of automatic Pilot control method |
| CN113771844A (en) * | 2020-06-04 | 2021-12-10 | 现代摩比斯株式会社 | Safe driving control system and method for vehicle, and storage medium |
| CN112966613A (en) * | 2021-03-10 | 2021-06-15 | 北京家人智能科技有限公司 | Automobile operation environment multi-stage early warning method and device, electronic equipment and storage medium |
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