CN104943689B - Control method for active automobile anti-collision system - Google Patents
Control method for active automobile anti-collision system Download PDFInfo
- Publication number
- CN104943689B CN104943689B CN201510295286.5A CN201510295286A CN104943689B CN 104943689 B CN104943689 B CN 104943689B CN 201510295286 A CN201510295286 A CN 201510295286A CN 104943689 B CN104943689 B CN 104943689B
- Authority
- CN
- China
- Prior art keywords
- barrier
- control method
- controller
- collision
- vehicle
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims abstract description 6
- 230000004888 barrier function Effects 0.000 claims description 44
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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, is related specifically to a kind of controlling party of Automotive active anti-collision system
Method.
Background technology
Automotive active anti-collision system detects vehicle front by being arranged on the radar of vehicle front or imaging first-class sensor
Barrier, pedestrian, the distance of vehicle and this car, control system judges the collision threat of above-mentioned barrier and this car, works as judgement
When there is collision threat, control system controls this car and implements Braking mode.Active collision avoidance system for avoid or reduce collision danger
Danger has positive effect.Yet with sensor accuracy of detection, or the problem of collision threat judgment accuracy, active collision avoidance system
System is it sometimes appear that control error.Such as the electric pole that vehicle diagonally forward does not have risk of collision is judged as dangerous to car
Implement self-actuating brake so as to causing rear-end collision, or the linen obstacle wall in front or obstacle net be judged as into clear,
Even if there is risk of collision and also do not implement self-actuating brake in obstacle wall or obstacle net, with the distance of this car so as to cause collision accident.
Similar error in judgement is by media wide coverage.
The content of the invention
The purpose of the present invention is to propose to a kind of control method of Automotive active anti-collision system, can be by by sensor detection essence
Degree or controller judge the minimizing risk that precision is caused, so as to improve traffic safety.
The control method of the Automotive active anti-collision system of the present invention comprises the steps：
A：Using the distance between sensor detected vehicle preceding object thing and vehicle body, speed difference and relative acceleration；
B：Controller judges that preceding object thing whether there is risk of collision with this car according to the testing result of sensor, and
To judging that precision is classified；
C：Controller performs corresponding operation according to the different stage for judging precision, control vehicle.
Specifically, in the step C, if being judged as accurately judging rank, Braking mode is performed to vehicle or to car
Perform auto-steering；If being judged as inaccurate judgement rank, braking is not performed to vehicle, only caused by warning device and driven
The person of sailing notes.
Further, it is as follows to judging the method that precision is classified in step B：
B1：There is barrier in the investigative range of vehicle front first, judge that precision is defined as accurately judging rank；
B2：There are barrier, the movement properties of controller disturbance in judgement thing, if barrier in the investigative range of vehicle front second
The attribute for hindering thing is judged as dynamic barrier, then will determine that precision is defined as accurately judging rank；If the attribute of barrier
Static-obstacle thing is judged as, then will determine that precision is defined as inaccurate judgement rank；
B3：There are barrier, the movement properties of controller disturbance in judgement thing, if barrier outside the investigative range of vehicle front second
The attribute for hindering thing is judged as dynamic barrier, then will determine that precision is defined as inaccurate judgement rank；If the category of barrier
Property is judged as static-obstacle thing, then ignore；
Detection angle of the detection angle of second investigative range more than the first investigative range.
The method of the movement properties of controller disturbance in judgement thing has following three kinds：
1st, the controller is judged by detecting the relative position change between barrier and this car in the given time
The movement properties of barrier.Relative position change distance between barrier and this car in the given time is more than by Ben Cheche
The distance that speed, the scheduled time are calculated, just illustrates the barrier itself also in motion.
2nd, the controller by infrared sensor come the movement properties of disturbance in judgement thing.The judgement principle with it is infrared controlled
The principle of the corridor lamp of system is identical, and here is omitted.
3rd, the controller is by detecting the relative velocity between barrier and this car in the given time come disturbance in judgement
The movement properties of thing.If relative velocity is more than the speed of this car, just illustrate the barrier itself also in motion.
Further, if exist two or three in tri- kinds of situations of described B1, B2, B3 simultaneously, the controller according to
The priority level order of B1 ＞ B2 ＞ B3 carries out corresponding response operation, to ensure that vehicle is not in risk of collision.
Specifically, first investigative range is the scope in 0～30 degree of vehicle front and vehicle left and right side front；Institute
The scope that the second investigative range is 30～90 degree of vehicle left and right side front is stated, fully to detect to the situation of vehicle front,
Ensure traffic safety.
The scheduled 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 being entered using sensor to dangerous situation
On the premise of row judges, also it is classified to judging precision, and different operations is carried out according to classification results, is reduced meaningless
Hedging operation, and fully ensured that traffic safety, it is more intelligent.
Description of the drawings
Fig. 1 is Active collision avoidance system control method flow chart proposed by the present invention.
Fig. 2 is vehicle detection scope schematic diagram.
Fig. 3,4,5 be it is various in embodiment 1 in the case of this car and barrier relative position schematic diagram.
Specific embodiment
It is for example involved each to the specific embodiment of the present invention by the description to embodiment below against accompanying drawing
The shape of component, the mutual alignment between construction, each several part and annexation, the effect of each several part and operation principle etc. are made into one
The detailed description of step.
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：Using the distance between sensor detected vehicle preceding object thing and vehicle body, speed difference and relative acceleration；
B：Controller judges that preceding object thing whether there is risk of collision with this car according to the testing result of sensor, and
To judging that precision is classified；
C：Controller performs corresponding operation according to the different stage for judging precision, control vehicle：If being judged as accurately sentencing
Disconnected rank, then perform Braking mode or perform auto-steering to vehicle to vehicle；It is not right if being judged as inaccurate judgement rank
Vehicle performs braking, only causes driver to note by warning device.
It is as follows to judging the method that precision is classified in step B：
B1：There is barrier in the investigative range of vehicle front first, judge that precision is defined as accurately judging rank；
B2：There are barrier, the movement properties of controller disturbance in judgement thing, if barrier in the investigative range of vehicle front second
The attribute for hindering thing is judged as dynamic barrier, then will determine that precision is defined as accurately judging rank；If the attribute of barrier
Static-obstacle thing is judged as, then will determine that precision is defined as inaccurate judgement rank；
B3：There are barrier, the movement properties of controller disturbance in judgement thing, if barrier outside the investigative range of vehicle front second
The attribute for hindering thing is judged as dynamic barrier, then will determine that precision is defined as inaccurate judgement rank；If the category of barrier
Property is judged as static-obstacle thing, then ignore；
More than the detection angle of the first investigative range, specifically, first visits the detection angle of second investigative range
Survey the scope that scope is 0～30 degree of vehicle front and vehicle left and right side front；Second investigative range is vehicle left and right side
The scope in 30～90 degree of front.
In the present embodiment, the controller is by the relative velocity between detection barrier and this car in the given time
Carry out the movement properties of disturbance in judgement thing.If relative velocity is more than the speed of this car, the barrier itself is just illustrated also in motion,
If relative velocity is equal to the speed of this car, just illustrate that the barrier itself is not moved.
Further, if exist two or three in tri- kinds of situations of described B1, B2, B3 simultaneously, the controller according to
The priority level order of B1 ＞ B2 ＞ B3 carries out corresponding response operation, to ensure that vehicle is not in risk of collision.
Describe in detail with reference to concrete condition：
As shown in figure 3, vehicle B is located at the scope front in 15 degree of the left and right side front of this car A（Equivalent to the first detection
In the range of）, i.e. vehicle B equivalent to A immediately ahead of, vehicle is continued on will be bumped against, therefore for both risks of collision
Accuracy of judgement degree is accurate, and Active collision avoidance system performs self-actuating brake to this car A.
As shown in figure 4, barrier C is located at this car A right sides 31 ° of angles in front（Equivalent in the second investigative range）, this car A master
Dynamic anti-collision system is judged that both have and is touched by detection the distance between this car A and barrier C, speed difference and relative acceleration
Danger, and Active collision avoidance system disturbance in judgement thing C 31 ° of angles on the right side of this car A are hit, both relative velocities are more than the speed of this car A,
Therefore its disturbance in judgement thing C is a moving barrier, is accurate, active collision avoidance system for both risk of collision accuracy of judgement degree
System performs self-actuating brake to this car A.
As shown in figure 5, electric pole D is located on the roadbed in front of this car A right sides, electric pole D 31 ° of angles on the right side of this car A（Phase
When in the second investigative range）, this car A Active collision avoidance systems are by detection the distance between A and D, speed difference and relative acceleration
Degree, judges that both have risk of collision, and Active collision avoidance system detection D is less than this car itself speed with A relative velocities, therefore sentences
Disconnected D is a static-obstacle thing, for both risk of collision accuracy of judgement degree for inaccurate, Active collision avoidance system to this car A not
Self-actuating brake or steering are performed, only reminds this car driver to note by alarm lamp or steering wheel vibration.
Claims (7)
1. a kind of control method of Automotive active anti-collision system, it is characterised in that comprise the steps：
A：Using the distance between sensor detected vehicle front and side preceding object thing and vehicle body, speed difference and relative acceleration
Degree；
B：Controller judges front and side preceding object thing with this car with the presence or absence of collision danger according to the testing result of sensor
Danger, and when there is risk of collision, to judging that precision is classified；
C：Controller performs corresponding operation according to the different stage for judging precision, control vehicle；
It is as follows to judging the method that precision is classified in step B：
B1：There is barrier in the investigative range of vehicle front first, judge that precision is defined as accurately judging rank；
B2：There are barrier, the movement properties of controller disturbance in judgement thing, if barrier in the investigative range of vehicle front second
Attribute be judged as dynamic barrier, then will determine that precision is defined as accurately judging rank；If the attribute of barrier is judged to
It is set to static-obstacle thing, then will determine that precision is defined as inaccurate judgement rank；
B3：There are barrier, the movement properties of controller disturbance in judgement thing, if barrier outside the investigative range of vehicle front second
Attribute be judged as dynamic barrier, then will determine that precision is defined as inaccurate judgement rank；If the attribute quilt of barrier
It is judged to static-obstacle thing, then ignores；
Detection angle of the detection angle of second investigative range more than the first investigative range.
2. the control method of Automotive active anti-collision system according to claim 1, it is characterised in that in step C, if
It is judged as accurately judging rank, then Braking mode is performed to vehicle or auto-steering is performed to vehicle；If being judged as inaccurate sentencing
Disconnected rank, then to vehicle do not perform braking, only causes driver to note by warning device.
3. the control method of Automotive active anti-collision system according to claim 1, it is characterised in that the controller passes through
Relative position change between detection barrier and this car in the given time carrys out the movement properties of disturbance in judgement thing.
4. the control method of Automotive active anti-collision system according to claim 1, it is characterised in that the controller passes through
Infrared sensor carrys out the movement properties of disturbance in judgement thing.
5. the control method of Automotive active anti-collision system according to claim 1, it is characterised in that the controller passes through
Relative velocity between detection barrier and this car in the given time carrys out the movement properties of disturbance in judgement thing.
6. the control method of Automotive active anti-collision system according to claim 1, it is characterised in that if described B1, B2, B3
There is two or three in three kinds of situations simultaneously, then the controller carries out corresponding according to the priority level order of B1 ＞ B2 ＞ B3
Response operation.
7. the control method of Automotive active anti-collision system according to claim 3, it is characterised in that the scheduled time is
2～5s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510295286.5A CN104943689B (en) | 2015-06-03 | 2015-06-03 | Control method for active automobile anti-collision system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510295286.5A CN104943689B (en) | 2015-06-03 | 2015-06-03 | Control method for active automobile anti-collision system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104943689A CN104943689A (en) | 2015-09-30 |
| CN104943689B true CN104943689B (en) | 2017-05-10 |
Family
ID=54158898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510295286.5A Active CN104943689B (en) | 2015-06-03 | 2015-06-03 | Control method for active automobile anti-collision system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104943689B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6465127B2 (en) * | 2016-02-10 | 2019-02-06 | 株式会社デンソー | Driving support device |
| 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 |
| CN106696927B (en) * | 2016-12-30 | 2020-04-28 | 智车优行科技（北京）有限公司 | Control method and device for automatic emergency braking of vehicle and vehicle |
| WO2018213957A1 (en) * | 2017-05-21 | 2018-11-29 | 李仁涛 | Driverless car obstacle avoidance apparatus and method |
| CN107578427B (en) * | 2017-07-31 | 2021-05-18 | 深圳市易成自动驾驶技术有限公司 | Method and device for detecting dynamic obstacle and computer readable storage medium |
| CN108674412B (en) * | 2018-04-04 | 2020-01-24 | 江苏大学 | Vehicle active collision avoidance method adopting sensor fusion |
| 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 |
| CN109278757B (en) * | 2018-10-25 | 2020-10-20 | 广州小鹏汽车科技有限公司 | Vehicle collision detection method and vehicle control system |
| 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 |
| CN109991976B (en) * | 2019-03-01 | 2022-05-13 | 江苏理工学院 | Method for avoiding dynamic vehicle by unmanned vehicle based on standard particle swarm optimization |
| KR20210139297A (en) * | 2019-03-27 | 2021-11-22 | 스미토모 겐키 가부시키가이샤 | Construction machinery, support system |
| 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 |
| KR20210150921A (en) | 2020-06-04 | 2021-12-13 | 현대모비스 주식회사 | System and method for safety driving control of vehicle |
| CN112966613B (en) * | 2021-03-10 | 2024-07-12 | 北京家人智能科技有限公司 | Multi-stage early warning method and device for automobile running environment, electronic equipment and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101443831A (en) * | 2006-05-15 | 2009-05-27 | 丰田自动车株式会社 | Support control device |
| CN101678819A (en) * | 2007-06-14 | 2010-03-24 | 丰田自动车株式会社 | Collision reducing device |
| CN104067327A (en) * | 2011-11-01 | 2014-09-24 | 大众汽车有限公司 | Method for outputting alert messages of a driver assistance system and associated driver assistance system |
| CN104200704A (en) * | 2014-08-19 | 2014-12-10 | 奇瑞汽车股份有限公司 | Collision avoidance early-warning method and equipment for vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10244205A1 (en) * | 2002-09-23 | 2004-03-25 | Robert Bosch Gmbh | Vehicle collision prevention method for preventing collision between motor vehicles uses sensors to detect a vehicle's surroundings and its amount of movement |
-
2015
- 2015-06-03 CN CN201510295286.5A patent/CN104943689B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101443831A (en) * | 2006-05-15 | 2009-05-27 | 丰田自动车株式会社 | Support control device |
| CN101678819A (en) * | 2007-06-14 | 2010-03-24 | 丰田自动车株式会社 | Collision reducing device |
| CN104067327A (en) * | 2011-11-01 | 2014-09-24 | 大众汽车有限公司 | Method for outputting alert messages of a driver assistance system and associated driver assistance system |
| CN104200704A (en) * | 2014-08-19 | 2014-12-10 | 奇瑞汽车股份有限公司 | Collision avoidance early-warning method and equipment for vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104943689A (en) | 2015-09-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104943689B (en) | Control method for active automobile anti-collision system | |
| US20230135798A1 (en) | Vehicle control device and vehicle control method | |
| CN110239535B (en) | Curve active collision avoidance control method based on multi-sensor fusion | |
| CN108290577B (en) | Vehicle control device | |
| KR102128567B1 (en) | Method for determining a triggering criterion for braking and an emergency braking system for a vehicle | |
| CN101327796B (en) | Method and apparatus for rear cross traffic collision avoidance | |
| KR102112125B1 (en) | Vehicle control device | |
| US20150197246A1 (en) | Lateral maneuver planner for automated driving system | |
| JP2016193719A (en) | Gap-based speed control method for automated driving system | |
| EP3686864A1 (en) | Information processing device, autonomous moving apparatus, method, and program | |
| CN105702088A (en) | warning device | |
| CN106470884B (en) | Determination of vehicle state and driver assistance while driving a vehicle | |
| EP3456596A1 (en) | Method and device of predicting a possible collision | |
| JP2011517632A (en) | Method and assistance system for detecting objects in the vicinity of a vehicle | |
| CN109353337B (en) | Intelligent vehicle lane change stage collision probability safety prediction method | |
| JP2021513159A (en) | Systems and methods for detecting the risk of collision between an automated vehicle and a secondary object in the driving lane next to the vehicle when changing lanes. | |
| CN107082071A (en) | For preventing the unexpected method and servicing unit for leaving runway | |
| JP2014232508A (en) | Avoidance track prediction device | |
| US20190308618A1 (en) | Driving support apparatus | |
| KR20190045308A (en) | A vehicle judging method, a traveling path correcting method, a vehicle judging device, and a traveling path correcting device | |
| WO2023072135A1 (en) | Assessment method and apparatus for safe traveling of vehicle, and vehicle and storage medium | |
| US10351130B2 (en) | Vehicle control system | |
| JP6446245B2 (en) | Automatic operation control device | |
| AU2020202341A1 (en) | Collision avoidance system with elevation compensation | |
| CN114132311A (en) | Method and module for screening dangerous targets for automatic emergency braking of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |