CN105216727B - A kind of vehicle distances detection active safety system and control method - Google Patents

A kind of vehicle distances detection active safety system and control method Download PDF

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Publication number
CN105216727B
CN105216727B CN201510523637.3A CN201510523637A CN105216727B CN 105216727 B CN105216727 B CN 105216727B CN 201510523637 A CN201510523637 A CN 201510523637A CN 105216727 B CN105216727 B CN 105216727B
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module
barrier
car
control
alarm
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CN105216727A (en
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周迎辉
杨全凯
汤小生
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely Automobile Research Institute Co Ltd
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Zhejiang Geely Holding Group Co Ltd
Zhejiang Geely Automobile Research Institute Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling
    • B60Q9/008Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling for anti-collision purposes

Abstract

The present invention provides a kind of vehicle distances detection active safety system and control method, belong to technical field of automotive electronics.It, which solves the problems, such as that vehicle distances detection in the prior art is not enough improved, to carry out effective prompting to driver.The system includes control module, detecting module, display module, alarm module and the ignition switch being connected with control module and speed probe, and detecting module detection peripheral obstacle simultaneously sends the result to control module;Control module receives and processes result of detection with true barrier state, is shown by display module, and control alarm module to send alarm when there is risk of collision.This control method includes:Step 1:Activation system;Step 2:Detect barrier and this car distance;Step 3:Whether disturbance in judgement thing influences this car safety;Step 4:Alarm module sends alarm.The system and control method can differentiate that fore-aft vehicle safe distance is reminded, and provide safety instruction.

Description

A kind of vehicle distances detection active safety system and control method
Technical field
The invention belongs to technical field of automotive electronics, is related to a kind of vehicle distances detection active safety system and controlling party Method.
Background technology
Vehicle travels on road, and driver begins to ceaselessly judge the safe distance of nearby vehicle and vehicle, But often because of the complexity of road conditions and the deficiency of driving experience, there are some potential safety problems in judgement, for example, and front vehicles It is too tight, under the state of emergency, have little time brake and cause to knock into the back;This car checks car, and car rear-end, next similar state is to bring It it is time and pecuniary waste, second, there are security risk for life.In the prior art, can solve to find that vehicle front has During object, active brake function is realized, the characteristics of this function is solved under emergency case, and artificial braking time is later than system The emergency braking time, reduces exterior dangerous generation, but there is also the system inertia force powerful in emergency braking to vehicle occupant Injury, system are active brakes caused by member, vehicle occupant or the unexpected injury of passive receiving.
With the attention to safety of development and people of science and technology, vehicle lane change detection and warning device foreign minister at home After emerging, such as Chinese patent literature:Vehicle lane change alarm system and alarm method (application number:201210012289.X;Notification number 103204122 A of CN), lamp control signal acquisition unit, central processing unit, detectable signal transmitter unit, detectable signal should be included Receiving unit and alarm unit, the lamp control signal acquisition unit gather the vehicle lamp control signal of this car and will believe accordingly in real time Number it is sent to central processing unit;The central processing unit according to Vehicle lamp control signal detection left-hand bend lamp or right-hand bend lamp whether Opened, and control detectable signal transmitter unit in the side rear transmitter unit emission detection signal in the lane change direction that will turn, And corresponding detectable signal is received by detectable signal receiving unit, and corresponding detection data is sent back into central processing unit and is carried out Whether processing has barrier with the side rear in the definite lane change direction that will turn and obtains the relative velocity and phase of the barrier Adjust the distance, central processing unit controls alarm unit to alarm according to corresponding detection data afterwards.
Above-mentioned patent can solve the problems, such as the judgement and early warning of back car during vehicle lane change, improve to a certain extent The security of vehicle travel process, but the traveling trend of front vehicle can not be prejudged in such scheme, alarm effect Fruit is not good enough, and security is not high enough.
The content of the invention
There are the above problem for existing technology by the present invention, it is proposed that and a kind of vehicle distances detect active safety system, Purpose is to judge vehicle condition around this car in advance to aid in driver to reduce the maloperation in driving conditions.
The present invention is realized by following technical proposal:A kind of vehicle distances detect active safety system, it is characterised in that The active safety system includes control module, detecting module, display module, alarm module and is connected with the control module Ignition switch and speed probe, the speed probe be arranged on engine be used for detect engine rotational speed signal, institute State detecting module and gather the mobile status of this car and peripheral obstacle in real time and be converted to corresponding signal and be sent to control mould Block;The signal that the control module receives detecting module collection is handled to determine this front side, rear, left side or right side Whether there are the relative distance and mobile trend of barrier and the barrier and this car, while detection knot is shown by display module Fruit, and output alarm signal control alarm module sends alarm when handling result is shown with risk of collision.
This vehicle distances detects mobile feelings of the active safety system by detecting module real-time detection vehicle periphery barrier Condition, is then handled result of detection by control module, and carries out intelligent decision according to result of detection, is provided with guidance The alarm and prompting of meaning, auxiliary driver safety drive.
In above-mentioned vehicle distances detection active safety system, the control module detects that ignition switch is in ON grades And when receiving the tach signal of speed probe, which performs automatic start and output control signal control detecting module Detected.Determine whether vehicle is in travel condition by ignition switch and speed probe, avoid unnecessary alarm.
In above-mentioned vehicle distances detection active safety system, the detecting module includes preceding radar, rear radar, Zuo Lei Reach, right radar, visual camera head and vehicle speed sensor, the preceding radar are arranged in vehicle front bumper for detecting front The relative distance of barrier and this car;Radar, which is arranged on vehicle rear bumper, after described is used to detect positive obstruction and this car Relative distance;The left radar, which is arranged on, is used for the relative distance for detecting left side barrier and this car on left outside rearview mirror;Institute State right radar and be arranged on and be used for the relative distance for detecting right side barrier and this car in right outside rear-view mirror;The visual camera head with Display module connects, it is arranged on the mobile trend and moving direction that vehicle tail is used to shoot rear obstacle;The speed Sensor is used to detect this vehicle speed.Surrounding sets radar in car so that the investigative range of each radar is clearer and more definite, and detection is covered Lid scope is more complete, and the mobile trend of rear obstacle is can see by visual camera head, and vehicle speed sensor can detect This vehicle speed, the translational speed for estimating barrier for driver provide a reference information.
In above-mentioned vehicle distances detection active safety system, the scope of the detection range of the preceding radar and rear radar Value is 3-10 meters, and the value range of the detection range of the left radar and right radar is 3-5 meters.
In above-mentioned vehicle distances detection active safety system, the barrier includes mobile human or animal or car .
In above-mentioned vehicle distances detection active safety system, the control module is car body controller BCM, described aobvious It is DVD to show module, and the alarm module is audible-visual annunciator or loudspeaker.Wherein, control module can also be MCU, TCU etc.; Display module can be LCD display etc.;Voice prompt and flashing signal can be sent by audible-visual annunciator, prompt effect It is more straightforward, understand easy to driver.
A kind of vehicle distances detect active safety control method, it is characterised in that comprise the following steps:
Step 1:Ignition switch goes to ON grades, and engine speed sensor detects engine rotational speed signal and is sent to Control module;
Step 2:The signal that control module receives detecting module detection determines vehicle periphery whether there are obstacles, and Determine the relative distance of barrier and this car;
Step 3:Control module is by the relative distance of barrier and this car and default in the control module corresponding critical Threshold value is contrasted, and when relative distance reaches or will exceed threshold limit value output control signal to alarm module;
Step 4:Alarm module sends sound-light alarm.
In above-mentioned vehicle distances detection active safety control method, vehicle periphery refers to vehicle described in step 2 Front, dead astern, left side and right side.By each investigative range of clear and definite vehicle periphery, blind area is reduced, can be effectively improved Detection accuracy.
In above-mentioned vehicle distances detection active safety control method, preset in the control module described in step 3 Corresponding threshold limit value includes:First threshold, dead astern barrier are 10 meters with this car distance;Second threshold, dead astern obstacle Thing is 5 meters with this car distance;3rd threshold value, front barrier are 3 meters with this car distance;4th threshold value, front barrier It it is 5 meters with this car distance;5th threshold value, front barrier are 10 meters with this car distance.Pass through the threshold limit value to front and back It is defined, specifies the safe distance of vehicle and barrier, module judges that vehicle safety provides basis for estimation in order to control.
In above-mentioned vehicle distances detection active safety control method, the alarm module, which sends alarm, to be included in following Hold:
A, detecting module detects dead astern barrier and this car distance between first threshold and second threshold, control Module control alarm module sends warning reminding, the frequency and rear obstacle of alarm and the far and near directly proportional pass of this car distance System;
B, detecting module detects dead astern barrier and this car distance is less than second threshold, and front barrier and sheet Car distance is more than the 5th threshold value, and control module control starts the mobile status of visual camera head shooting rear obstacle, and passes through Display module, which provides, indicates forward icon to remind driver to accelerate to avoid;
C, detecting module detects front barrier and detects mould apart from the 3rd threshold value, control module control is less than with this car Block detection left side and right side barrier situation, corresponding instruction is shown when wherein barrier occurs in side by display module The relative distance of icon and the barrier and this car;
D, detecting module detects front barrier and this car distance between the 4th threshold value and the 5th threshold value, and not Left side barrier, right side barrier and dead astern barrier are detected, control module is prompted to slow down by alarm module, and 5 Second is by providing turn left instruction or instruction of turning right after display module;
E, detecting module, which detects left or right side, barrier, and control module shows corresponding side by display module Barrier indicates icon.Specific aim operation indicating is provided by the different situations for judging to occur in vehicle travel process and alarm carries Show, can effectively alleviate driver's intense strain, reduce traffic safety hidden danger.
In above-mentioned vehicle distances detection active safety control method, the barrier include mobile human or animal or Person's vehicle.
Compared with prior art, this vehicle distances detection active safety system has the following advantages:Before 1) actively differentiating, Afterwards, the safe distance of left and right barrier and this car, and send warning reminding;2) safety instruction is actively provided, according to different situations Different instruction is sent, prompts driver to pay attention to or operated, particularly mitigates the intense strain of driver, improves driving peace Entirely.
Brief description of the drawings
Fig. 1 is the circuit diagram of vehicle distances detection active safety system in the embodiment of the present invention.
Fig. 2 is the flow chart of vehicle distances detection active safety control method in the embodiment of the present invention.
Fig. 3 is the display interface schematic layout pattern of DVD in the embodiment of the present invention.
In figure, 1, ignition switch;2nd, speed probe;3rd, control module;4th, detecting module;41st, preceding radar;42nd, rear thunder Reach;43rd, left radar;44th, right radar;45th, visual camera head;46th, vehicle speed sensor;5th, display module;6th, alarm module;7th, it is preceding Into instruction icon;8th, turn left instruction icon;9th, turn right and indicate icon;10th, distance value icon;11st, left side barrier instruction icon; 12nd, right side barrier instruction icon.
Embodiment
It is below the specific embodiment of the present invention, and technical scheme is further described with reference to attached drawing, But the present invention is not limited to these embodiments.
As shown in Figure 1, this vehicle distances detection active safety system includes control module 3, detecting module 4, display module 5th, alarm module 6 and the ignition switch 1 and engine speed sensor 2 that are connected with control module 3, detecting module 4 are real-time Gather the mobile status of this car and peripheral obstacle and be converted to corresponding signal and be sent to control module 3;Control module 3 connects Receive detecting module 4 gather signal handled with determine this front side, rear, left side or right side whether have barrier and The relative distance and mobile trend of the barrier and this car, while result of detection is shown by display module 5, and in handling result Output alarm signal control alarm module 6 sends alarm when being shown with risk of collision.It should be noted that this is only in control mould Block 3 detects that ignition switch 1 is in ON grades and receives when being arranged at the tach signal of speed probe 2 of engine, controls mould Block 3 can perform automatic start and output control signal control detecting module 4 is detected.
With reference to attached drawing specifically, control module 3 is car body controller BCM, can realize car light control, loudspeaker control etc. Function, by the way that itself and detecting module 4, display module 5 and alarm module 6 are attached, to realize vehicle distances detection actively The function of security system, in addition to this it is possible to substituted using other controller modules with similar functions, such as MCU, TCU etc..As shown in figure 3, display module 5 is DVD or other displays, such as LCD display, it is mainly used for video and shows Show, its display content includes detecting to various detecting modules 4 such as sign, steering indicating reminders, peripheral obstacle states Information.Alarm module 6 is audible-visual annunciator or loudspeaker, and especially with audible-visual annunciator, hommization is realized by voice Instruction, guides driver to operate, mitigates the intense strain of driver, reduce operation error by straightaway simple language, Wherein voice messaging can be " please turn left ", " please turn right ", " note that front have barrier!", " note that rear has Barrier approaches!", " note that left side have barrier!", " note that right side have barrier!" etc., it is including but not limited to above-mentioned Several voice prompts, can be configured as needed in practice.Detecting module 4 includes preceding radar 41, rear radar 42, Zuo Lei Up to 43, right radar 44, visual camera first 45 and vehicle speed sensor 46, preceding radar 41, which is arranged in vehicle front bumper, to be used to detect The relative distance of front barrier and this car;Afterwards radar 42 be arranged on vehicle rear bumper be used for detect positive obstruction with The relative distance of this car;Left radar 43, which is arranged on, is used for the relative distance for detecting left side barrier and this car on left outside rearview mirror; Right radar 44, which is arranged on, is used for the relative distance for detecting right side barrier and this car in right outside rear-view mirror;Visual camera first 45 with DVD connections, it is arranged on the mobile trend and moving direction that vehicle tail is used to shoot rear obstacle;Vehicle speed sensor 46 is used In detecting this vehicle speed, to judge the position relationship between this car and barrier, e.g. it is close or mutually remote.In car In surrounding set radar so that the investigative range of each radar is clearer and more definite, detection coverage it is more complete.Wherein, preceding radar 41 Probe value with the minimum range of rear radar 42 is 3 meters, and the probe value of ultimate range is 10 meters;Left radar 43 and right radar 44 The probe value of minimum range is 3 meters, and the probe value of ultimate range is 5 meters.
In the present embodiment, barrier includes the object of the various movements such as people, animal or vehicle.
The security risk of vehicle periphery can be found in advance by detecting active safety system by this vehicle distances, be made corresponding Judge, and remind driver to make correct operation, reduce the generation of danger.
As shown in Fig. 2, this vehicle distances detection active safety control method comprises the following steps:
S201 step 1:Activation system:Ignition switch goes to ON grades, and engine speed sensor detection engine speed Signal is simultaneously sent to control module 3;
S202 step 2:Judge vehicle periphery barrier state:It is true that control module 3 receives the signal that detecting module 4 detects Determine vehicle periphery whether there are obstacles, and the relative distance of definite barrier and this car, while result of detection is conveyed to Display module 5 is shown;Wherein, vehicle periphery refers to front, dead astern, left side and the right side of vehicle, passes through clear and definite car Each investigative range around, reduces blind area, can effectively improve detection accuracy;
S203 step 3:Analyze result of detection and output control instruction:Control module 3 by barrier and this car it is opposite away from Contrasted from the corresponding threshold limit value with being preset in control module 3, and reach or will exceed in relative distance and face Output control signal is to alarm module 6 during boundary's threshold value;
S204 step 4:Alarm module 6 sends sound-light alarm.
In the present embodiment, barrier includes mobile human or animal or vehicle.
Specifically, in step 3, the corresponding threshold limit value being located in control module 3 includes:First threshold, just after Square barrier is 10 meters with this car distance;Second threshold, dead astern barrier are 5 meters with this car distance;3rd threshold value, front Barrier is 3 meters with this car distance;4th threshold value, front barrier are 5 meters with this car distance;5th threshold value, front barrier Hinder thing with this car apart from for 10 meters.By being defined to the threshold limit value of front and back, specify the safety of vehicle and barrier away from From module 3 judges that vehicle safety provides basis for estimation in order to control.In the step, the occurrence of each threshold limit value is simultaneously Content disclosed above is not limited only to, can reasonably be adjusted according to actual road conditions and vehicle condition, on the basis of above-mentioned numerical value On do and slightly fluctuate.
According to above-mentioned foundation, the specific alarm and suggestion content that alarm module 6 is sent are as follows:
A, detecting module 3 detects dead astern barrier and this car distance between first threshold and second threshold, control Molding block 3 controls alarm module 6 to send the warning reminding similar to " drop-drop-drop ", the frequency and rear obstacle of alarm with This car distance it is far and near proportional, such as:Distance is shorter, and alarm is more rapid, and distance is longer, and alarm is more slow;
B, detecting module 4 detects dead astern barrier and this car distance and is less than second threshold, and front barrier and This car distance is more than the 5th threshold value, and the control of control module 3 starts the mobile status of the first 45 shooting rear obstacle of visual camera, and Advance instruction icon 7 is provided to remind driver to accelerate to avoid by display module 5 (as shown in Figure 3), driver can be from aobvious Show the turning trend of direct viewing rear obstacle in module 5:People or animal, its trend of direct viewing;If barrier is car, The service condition (such as left-hand rotation lamp glittering/right-hand rotation lamp is glittering) and rear car front for then observing rear car steering indicating light turn to trend;
C, detecting module 4 detects front barrier and is detected with this car apart from the 3rd threshold value, the control of control module 3 is less than The detection of module 4 left side and right side barrier situation, when wherein there is barrier in side by display module 5 (with reference to figure 3, such as Left side barrier instruction icon 11 or right side barrier instruction icon 12 are glittering.) show corresponding instruction icon and be somebody's turn to do The relative distance of barrier and this car;
D, detecting module 4 detects front barrier and this car distance between the 4th threshold value and the 5th threshold value, and Left side barrier, right side barrier and dead astern barrier are not detected, control module 3 is prompted to slow down by alarm module 6, and After for 5 seconds by display module 5 (with reference to figure 3, such as turn left instruction icon 8 or instruction icon 9 of turning right it is glittering) provide to Left-hand rotation instruction or instruction of turning right;
E, detecting module 4, which detects left or right side, a barrier, control module 3 by display module 5 (with reference to figure 3, such as Left side barrier instruction icon 11 or right side barrier instruction icon 12 are glittering.) show that the barrier instruction of corresponding side is schemed Mark.Specific aim operation indicating and alarm are provided by the different situations for judging to occur in vehicle travel process, can be effective Alleviate driver's intense strain, reduce traffic safety hidden danger.
Above-mentioned visual prompts prompting can also set corresponding voice by 6 sounding of alarm module to realize, pass through voice Shown with reference to video and preferably provide auxiliary for driver.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led The technical staff in domain can do various modifications or additions to described specific embodiment or replace in a similar way Generation, but without departing from spirit of the invention or beyond the scope of the appended claims.

Claims (9)

1. a kind of vehicle distances detect active safety system, it is characterised in that the active safety system include control module (3), Detecting module (4), display module (5), alarm module (6) and the ignition switch (1) being connected with the control module (3) and Speed probe (2), the speed probe (2), which is arranged on engine, to be used to detect engine rotational speed signal, the detection Module (4) gathers the mobile status of this car and peripheral obstacle and is converted to corresponding signal in real time is sent to control module (3), detecting module (4) includes visual camera head (45), and visual camera head (45) is connected with display module (5), it is arranged on car Afterbody is used for the mobile trend and moving direction for shooting rear obstacle;It is preset with the control module (3) and faces accordingly Boundary's threshold value:Second threshold, dead astern barrier are 5 meters with this car distance;5th threshold value, front barrier are with this car distance 10 meters, the signal that the control module (3) receives detecting module (4) collection is handled to determine this front side, rear, left side Or whether right side has the relative distance and mobile trend of barrier and the barrier and this car, while pass through display module (5) result of detection is shown, and output alarm signal control alarm module (6) is sent when handling result is shown with risk of collision Alarm, the alarm include:Detecting module (4) detects dead astern barrier and this car distance and is less than second threshold, and just before Square barrier is more than the 5th threshold value with this car distance, and control module (3) control starts visual camera head (45) shooting rear barrier The mobile status of thing, and provided by display module (5) and indicate icon forward to remind driver to accelerate to avoid.
2. vehicle distances according to claim 1 detect active safety system, it is characterised in that the control module (3) When detecting that ignition switch (1) is in ON grades and receives the tach signal of speed probe (2), which performs certainly The dynamic simultaneously output control signal control detecting module (4) that starts is detected.
3. vehicle distances according to claim 2 detect active safety system, it is characterised in that the detecting module (4) Including preceding radar (41), rear radar (42), left radar (43), right radar (44) and vehicle speed sensor (46), the preceding radar (41) it is arranged on and is used for the relative distance for detecting front barrier and this car in vehicle front bumper;Radar (42) is set after described Put and be used for the relative distance for detecting positive obstruction and this car on vehicle rear bumper;The left radar (43) is arranged on left outside It is used for the relative distance for detecting left side barrier and this car on rearview mirror;The right radar (44), which is arranged in right outside rear-view mirror, to be used In the relative distance of detection right side barrier and this car;The vehicle speed sensor (46) is used to detect this vehicle speed.
4. vehicle distances according to claim 3 detect active safety system, it is characterised in that the preceding radar (41) and The value range of the detection range of radar (42) is 3-10 meters afterwards, the detection range of the left radar (43) and right radar (44) Value range is 3-5 meters.
5. vehicle distances according to claim 4 detect active safety system, it is characterised in that the control module (3) For car body controller BCM, the display module (5) is DVD, and the alarm module (6) is audible-visual annunciator.
6. a kind of vehicle distances detect active safety control method, it is characterised in that comprise the following steps:
Step 1:Ignition switch (1) goes to ON grades, and engine speed sensor (2) detects engine rotational speed signal and sends Give control module (3);
Step 2:The signal that control module (3) receives detecting module (4) detection determines vehicle periphery whether there are obstacles, with And the relative distance of definite barrier and this car;
Step 3:Control module (3) corresponding faces the relative distance of barrier and this car be preset in control module (3) Boundary's threshold value is contrasted, and when relative distance reaches or will exceed threshold limit value output control signal to alarm module (6), corresponding threshold limit value includes in control module (3):Second threshold, dead astern barrier are 5 meters with this car distance;5th Threshold value, front barrier are 10 meters with this car distance;
Step 4:Alarm module (6) sends sound-light alarm, and the alarm includes:
Detecting module detects dead astern barrier and is less than second threshold, and front barrier and this car distance with this car distance More than the 5th threshold value, control module control starts the mobile status of visual camera head shooting rear obstacle, and by showing mould Block, which provides, indicates forward icon to remind driver to accelerate to avoid.
7. a kind of vehicle distances detection active safety control method according to claim 6, it is characterised in that in step 2 The vehicle periphery refers to front, dead astern, left side and the right side of vehicle.
8. a kind of vehicle distances detection active safety control method according to claim 7, it is characterised in that in step 3 The corresponding threshold limit value being preset in control module (3) includes:First threshold, dead astern barrier are with this car distance 10 meters;3rd threshold value, front barrier are 3 meters with this car distance;4th threshold value, front barrier are 5 with this car distance Rice.
9. a kind of vehicle distances detection active safety control method according to claim 6-8 any one, its feature exist In the alarm module (6), which sends alarm, includes herein below:
Detecting module (4) detects dead astern barrier and this car distance between first threshold and second threshold, controls mould Block (3) control alarm module (6) sends warning reminding, and the frequency and rear obstacle of alarm are with the distance of this car distance into just The relation of ratio;
Detecting module (4) detects front barrier and is less than the 3rd threshold value, control module (3) control detection mould with this car distance Block (4) detection left side and right side barrier situation, it is corresponding by display module (5) display when wherein barrier occurs in side Instruction icon and the barrier and this car relative distance;
Detecting module (4) detects front barrier and this car distance between the 4th threshold value and the 5th threshold value, and does not visit Left side barrier, right side barrier and dead astern barrier are measured, control module (3) is prompted to slow down by alarm module (6), and 5 seconds by display module (5) after provide turn left instruction or instruction of turning right;
Detecting module (4), which detects left or right side, barrier, and control module (3) passes through display module (5) display corresponding one The barrier instruction icon of side.
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