CN105882655A - Method and system for pre-judging vehicle collision - Google Patents
Method and system for pre-judging vehicle collision Download PDFInfo
- Publication number
- CN105882655A CN105882655A CN201610340747.0A CN201610340747A CN105882655A CN 105882655 A CN105882655 A CN 105882655A CN 201610340747 A CN201610340747 A CN 201610340747A CN 105882655 A CN105882655 A CN 105882655A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- collision
- driving behavior
- dangerous driving
- driver
- 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.)
- Pending
Links
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, 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
- B60W30/095—Predicting travel path or likelihood of collision
-
- 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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- 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
- B60W50/0097—Predicting future conditions
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
-
- 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
- B60W2540/00—Input parameters relating to occupants
Abstract
The invention provides a method for pre-judging vehicle collision. The method includes detecting dangerous driving behavior for vehicles; increasing collision time threshold values set by drivers until the collision time threshold values reach set safety values in response to the detected dangerous driving behavior; pre-judging vehicle collision on the basis of the increased collision time threshold values. The method has the advantages that the collision pre-judging sensitivity can be improved by the aid of the method under the condition that driving scenes of the dangerous driving behavior are detected, and accordingly the driving safety can be effectively enhanced.
Description
Technical field
The present invention relates to electric vehicle field, particularly relate to pre-judging method and the system of a kind of vehicle collision.
Background technology
Along with the development of auto industry, the senior drive assist system (ADAS) application on automobile is
Through more and more extensive.Senior drive assist system, is to utilize the sensor of all kinds being arranged on vehicle,
Such as trailer-mounted radar sensor, senses environment in vehicle travel process in real time, collects data, enters
Row static state, the identification of dynamic object, detect and follow the trail of, thus allow driver perceive in advance and will occur
Collision, be effectively increased the security of car steering.
Existing senior drive assist system, the sensitivity when the imminent potential collision of anticipation vehicle,
Often rely on the threshold of sensitivity for the potential collision of anticipation manually arranged by driver；But, drive
After the person of sailing once is provided with the sensitivity of the potential collision of anticipation for senior drive assist system, at actual row
During car, it will be difficult to arranging sensitivity actively is modified, therefore in the face of complicated environment,
Senior drive assist system only uses the fixing threshold of sensitivity arranged by driver to carry out potential the touching of anticipation
Hit, the security requirement of driving may be met.
Summary of the invention
In view of this, the application proposes the pre-judging method of a kind of vehicle collision, and described method includes:
Dangerous driving behavior detection is performed for vehicle；
In response to the described dangerous driving behavior detected, collision time threshold value driver set increases
To the safety value set；
Based on the described collision time threshold value after increasing, perform the anticipation of vehicle collision.
Optionally, described dangerous driving behavior includes the dangerous driving behavior detected in real time；
Described method also includes:
After vehicle launch, perform the real-time detection of dangerous driving behavior for described vehicle.
Optionally, described dangerous driving behavior includes the driver detected from historical driving behavior data
Dangerous driving behavior custom；
Described method also includes:
Read the historical driving behavior that vehicle is locally stored, or
Based on the data cube computation pre-build with server download historical driving behavior number from described server
According to；
It is analyzed detecting included in described historical driving behavior data for described historical behavior data
Dangerous driving behavior custom.
Optionally, the multiple safety values corresponding to described collision time threshold value are set；Wherein, the plurality of
The most corresponding different risk class of safety value；
The described safety value increasing to the collision time threshold value that driver sets set, including:
Carry out risk assessment for the described dangerous driving behavior detected and determine risk class；
Carry out, in response to for described dangerous driving behavior, the risk class that risk assessment is determined, will drive
The collision time threshold value that person sets increases to the safety value corresponding with this risk class.
Optionally, described method also includes:
In response to the dangerous driving behavior detected, the peak acceleration of the vehicle that driver is set and
Maximum deceleration is reduced to the safety value set.
Optionally, described method also includes:
In response to the dangerous driving behavior detected, the lateral displacement that vehicle driver set allows
Maximum rate change is reduced to the safety value set.
Optionally, one or more during described dangerous driving behavior includes following behavior:
The safety belt of driver and/or passenger is in non-tightening state；
Driver is in the state that vigilance degree is low in driving；
The maximum speed of vehicle speed, peak acceleration, maximum deceleration or lateral displacement in driving
Rate change is higher than warning value.
Optionally, described based on the described collision time threshold value after increasing, perform the anticipation bag of vehicle collision
Include:
Receive described trailer-mounted radar or potential collision target that vehicle-mounted camera reports, and vehicle is with described
The collision time of potential collision target；
Judge that whether described collision time is less than the described collision time threshold value after increasing；
When described collision time is less than the collision time threshold value after described increase, it is determined that vehicle is with described
Collision target will collide.
Optionally, if anticipation goes out vehicle and will collide, below execution with described potential collision target
One or more in operation:
Reduce Vehicle Speed and control the vehicular gap with front vehicles；
Start brake apparatus to perform to brake in advance for vehicle；
Open risk indicating lamp prompting user's collision will occur.
The application also proposes the anticipation system of a kind of vehicle collision, and described system includes:
Detection module, for performing dangerous driving behavior detection for vehicle；
Increase module, in response to the described dangerous driving behavior detected, by touching that driver sets
Hit the safety value that time threshold increases to set；
Anticipation module, for based on the described collision time threshold value after increasing, performing the anticipation of vehicle collision.
Optionally, described dangerous driving behavior includes the dangerous driving behavior detected in real time；
Described detection module specifically for:
After vehicle launch, perform the real-time detection of dangerous driving behavior for described vehicle.
Optionally, described dangerous driving behavior includes the driver detected from historical driving behavior data
Dangerous driving behavior custom；
Described detection module specifically for:
Read the historical driving behavior that vehicle is locally stored, or
Based on the data cube computation pre-build with server download historical driving behavior number from described server
According to；
It is analyzed detecting included in described historical driving behavior data for described historical behavior data
Dangerous driving behavior custom.
Optionally, the multiple safety values corresponding to described collision time threshold value are set；Wherein, the plurality of
The most corresponding different risk class of safety value；
Described increase module specifically for:
Carry out risk assessment for the described dangerous driving behavior detected and determine risk class；
Carry out, in response to for described dangerous driving behavior, the risk class that risk assessment is determined, will drive
The collision time threshold value that person sets increases to the safety value corresponding with this risk class.
Optionally, described system also includes:
Reduce module, in response to the dangerous driving behavior detected, by the vehicle of driver's setting
Peak acceleration and maximum deceleration are reduced to the safety value set.
Optionally, described reduction module is further used for:
In response to the dangerous driving behavior detected, the lateral displacement that vehicle driver set allows
Maximum rate change is reduced to the safety value set.
Optionally, one or more during described dangerous driving behavior includes following behavior:
The safety belt of driver and/or passenger is in non-tightening state；
Driver is in the state that vigilance degree is low in driving；
The maximum speed of vehicle speed, peak acceleration, maximum deceleration or lateral displacement in driving
Rate change is higher than warning value.
Optionally, described anticipation module specifically for:
Receive described trailer-mounted radar or potential collision target that vehicle-mounted camera reports, and vehicle is with described
The collision time of potential collision target；
Judge that whether described collision time is less than the described collision time threshold value after increasing；
When described collision time is less than the collision time threshold value after described increase, it is determined that vehicle is with described
Collision target will collide.
Optionally, described anticipation module is further used for:
Will collide with described potential collision target if anticipation goes out vehicle, perform in following operation
One or more:
Reduce Vehicle Speed and control the vehicular gap with front vehicles；
Start brake apparatus to perform to brake in advance for vehicle；
Open risk indicating lamp prompting user's collision will occur.
The application detects by performing dangerous driving behavior for vehicle, and drives in response to the danger detected
Sail behavior, the collision time threshold value that driver sets is increased to the safety value set, be then based on increasing
After described collision time threshold value perform vehicle collision anticipation, it is achieved that dangerous driving behavior detected
Time, the collision time threshold value for the potential collision of anticipation can be automatically increased, and based on the collision after increasing
Time threshold carrys out the collision of anticipation vehicle, thus under driving sight dangerous driving behavior being detected, can
To strengthen the sensitivity of collision anticipation, it is effectively improved the security of driving.
Accompanying drawing explanation
Fig. 1 is the pre-judging method of a kind of vehicle collision shown in a kind of illustrative embodiments of the present invention
Flow chart；
Fig. 2 is the signal of the hardware structure of a kind of vehicle shown in a kind of illustrative embodiments of the present invention
Figure；
Fig. 3 is the dress of the anticipation system of a kind of vehicle collision shown in a kind of illustrative embodiments of the present invention
Put block diagram；
Fig. 4 is a kind of anticipation carrying described vehicle collision shown in a kind of illustrative embodiments of the present invention
The hardware structure diagram of the vehicle of system.
Detailed description of the invention
In the related, (Advanced Driver Assistant System, senior driving is auxiliary for ADAS
Auxiliary system) system generally can be divided into different subsystems according to the function implemented.
Such as, the function achieved by ADAS system, generally may include that Braking mode, self adaptation
Cruise control, deviation warning, track keep duplication, collision anticipation, anti-collision warning or collide mitigation
Etc. function.Thus, the framework of ADAS system can comprise AEB (Autonomous Emergency
Braking, autonomous brake hard) system, ACC (Autonomous Emergency Braking, from
Adapt to cruise control) system, LDW (Lane Departure Warning, deviation alert) system,
LKA (Lane Keeping Aid, track keeps auxiliary) system, collision anticipation system, anti-collision warning system
System or collision disaster reduction system etc. and the above-mentioned functions subsystem one to one needing realization.
Wherein, above-mentioned collision anticipation system, may imminent potential collision for anticipation vehicle；?
In actual application, the sensitivity when the imminent potential collision of anticipation vehicle of the above-mentioned collision anticipation system,
Often rely on manually arranged by driver the TTC for the potential collision of anticipation (Time To Collision,
Collision time) threshold value.
For example, it is possible to the console at vehicle provides some alternative sensitivity options towards driver,
The most different sensitivity can distinguish the sensitivity of corresponding different ADAS system, and driver can be led to
Cross on console, select corresponding sensitivity option, such as TTC is set for vehicle-mounted ADAS system
The maximum rate change etc. of threshold value, peak acceleration, maximum deceleration and lateral displacement can characterize car
The threshold value of sensitivity of ADAS system.
But, driver is once provided with the threshold that can characterize ADAS system sensitivity for ADAS system
After value, in actual driving conditions, driver would become hard to actively to the most configured threshold of sensitivity
Being modified, therefore in the face of complicated environment, senior drive assist system only uses and is set by driver
The fixing threshold of sensitivity put carrys out the collision that anticipation is potential, may meet the security need of driving
Ask.
Such as, in a kind of situation illustrated, when driver is the sensitiveest by selecting on console
Degree option, is provided with after the TTC threshold value of the potential collision of anticipation for above-mentioned collision anticipation system, if
When driving, driver's energy is not concentrated, and is in dangerous driving state, then above-mentioned collision anticipation
The TTC threshold value that system is arranged according to driver, anticipation in advance goes out imminent potential collision rift, due to
Driver's energy is not concentrated, and goes out this of potential collision in the TTC threshold value anticipation in advance arranged based on driver
Plant under situation, still cannot may make correct reaction in time, thus threaten traffic safety.
Visible, in above situation, when driver is in dangerous driving state, timely to above-mentioned TTC
Threshold value is modified, significant for promoting traffic safety grade.
In view of this, the application proposes the pre-judging method of a kind of vehicle collision, by performing danger for vehicle
Danger driving behavior detection, and in response to the dangerous driving behavior detected, during the collision that driver is set
Between threshold value increase to set safety value, be then based on increase after described collision time threshold value perform vehicle
The anticipation of collision, it is achieved that when dangerous driving behavior being detected, can be automatically increased for anticipation potential
The collision time threshold value of collision, and the collision of anticipation vehicle is carried out based on the collision time threshold value after increasing, from
And under driving sight dangerous driving behavior being detected, the sensitivity of collision anticipation can be strengthened, effectively
Improve the security of driving.Meanwhile, also reduce driver that safety belt do not fastens or passenger is got rid of
Go out injured probability.
For making the purpose of the present invention, technical scheme and advantage clearer, develop simultaneously referring to the drawings
Embodiment, is described in further detail scheme of the present invention.
Referring to Fig. 1, the present invention proposes the pre-judging method of a kind of vehicle collision, is applied to vehicle, performs
Following steps:
Step 101, for vehicle perform dangerous driving behavior detection；
Step 102, in response to the dangerous driving behavior detected, the collision time threshold that driver is set
Value increases to the safety value set；
Step 103, based on increase after described collision time threshold value, perform vehicle collision anticipation.
In this example, above-mentioned vehicle can include traditional power vehicle, electric vehicle or hybrid electric vehicle
?.In the hardware structure of above-mentioned vehicle, can carry trailer-mounted radar and/or vehicle camera and
ADAS system.
Wherein, above-mentioned ADAS system, can comprise AEB system, ACC system, LDW system,
The subsystems such as LKA system, collision anticipation system, collision warning systems and collision disaster reduction system.Above-mentioned
Trailer-mounted radar, for detecting close to the metal target of vehicle when driving vehicle.Above-mentioned car
Carry camera, for vehicle is carried out close to the metal target of vehicle and nonmetal target when driving
Detection.
In an initial condition, the console at vehicle can be provided previously by some alternative sensitivity choosing
, driver can set for ADAS system by selecting corresponding sensitivity option on console
Put TTC threshold value.
When driving, the potential collision mesh that above-mentioned trailer-mounted radar or vehicle-mounted camera can will detect
Mark, and the TTC value of the vehicle calculated and this potential collision target reports to above-mentioned collision anticipation system
ECU (Electronic Control Unit, electronic control unit), the ECU of above-mentioned collision anticipation system
At the potential collision target receiving above-mentioned trailer-mounted radar or vehicle-mounted camera reports, and the car calculated
With the TTC value of this potential collision target after, the collision anticipation of above-mentioned steps 101 to 103 can be performed
Logic, when the dangerous driving behavior of driver being detected, makes the above-mentioned TTC threshold arranging driver by oneself
Whether value increases, and carry out anticipation vehicle will be with above-mentioned trailer-mounted radar based on the TTC threshold value after increasing
Or the potential collision target that vehicle-mounted camera reports collides, such that it is able to promote above-mentioned collision anticipation system
The system system sensitivity when the potential collision of anticipation, promotes travel safety.
Refer to the hardware structure figure that Fig. 2, Fig. 2 are a kind of vehicle shown in this example.
In the hardware structure of the vehicle shown in Fig. 2, can include trailer-mounted radar assembly, CCD camera assembly,
AEB system, ACC system, LDW system, LKA system, collision anticipation system, anti-collision warning system
System, collision disaster reduction system and vehicle bus.
Above-mentioned trailer-mounted radar assembly, can include radar sensor, and with radar sensor with the use of
ECU.Wherein, during above-mentioned radar sensor can be arranged at the front of vehicle, rear and side
Any one or multiple position, the most above-mentioned vehicle can carry simultaneously preposition radar, rearmounted radar and
Multiple in side radar, it is also possible to only carry appointing in preposition radar, rearmounted radar and side radar
Anticipate one.
Above-mentioned radar sensor, for sensing the metal target close to vehicle；Above-mentioned join with radar sensor
Close the ECU used, for determining whether the metal target that radar sensor detects is possible to send out with vehicle
The potential collision target (such as may determine that whether this target is positioned in the travel direction of vehicle) of raw collision,
And calculate the distance between target and the vehicle that radar sensor senses, and combine radar sensor
The vehicle sensed and the relative velocity of this target, calculate the information such as the vehicle TTC with this target further.
Wherein, above-mentioned TTC, specifically refer to detect the moment of above-mentioned potential collision target, dive apart from this
Interval duration in the moment that collision target and vehicle collide.For example, it is assumed that detect in the T1 moment
Collide to above-mentioned potential collision target, vehicle and this potential collision target in the T2 moment, then on
State collision time TTC=T2-T1.
Above-mentioned CCD camera assembly, can include camera and with camera with the use of ECU.
Wherein, any one during above-mentioned camera can also be arranged at the front of vehicle, rear and side
Individual or multiple positions.Or, in a kind of embodiment illustrated, above-mentioned camera can be 1
The full visual angle camera of degree.
Above-mentioned camera is for detecting the metal target close to vehicle and nonmetal target；With this camera
With the use of ECU, for determining whether the target that camera detects is possible to collide with vehicle
Potential collision target, and calculate the information such as distance between the camera target and the vehicle that detect.
It addition, with camera with the use of ECU, except can calculate the target that detects and vehicle it
Between distance beyond, it is also possible to combine radar sensor or vehicle that other vehicle-mounted hardware detection arrive with should
(vehicle-mounted camera self generally may not have detection vehicle and this mesh to the information of the relative velocity of target
The ability of target relative velocity), calculate the information such as the vehicle collision time with this target further.
Certainly, in actual applications, for camera, it is also possible to only by the vehicle that detects with latent
Distance between collision target reports to the ECU of above-mentioned collision warning systems, by anti-collision warning system
The vehicle that the ECU of system combines radar sensor or other vehicle-mounted hardware detection arrive is relative with this target
The information of speed, completes the calculating of the information such as above-mentioned TTC, is not particularly limited.
Above-mentioned vehicle bus, is used for connecting above-mentioned trailer-mounted radar assembly, above-mentioned CCD camera assembly, above institute
The each system stated, and the above data communication between each assembly and the ECU of system of carrying.
Above-mentioned collision anticipation system, can be by its in the vehicle bus hardware structure with vehicle including one
The ECU that the ECU of its system communicates.This collision anticipation system is for based on above-mentioned trailer-mounted radar group
The TTC of the vehicle that part and above-mentioned CCD camera assembly report and potential collision target, come anticipation vehicle whether with
Above-mentioned potential collision target will collide；And anticipation go out collision will occur time, real-time enters
Row response, is communicated by the ECU with other system, issues accordingly to the ECU of other system
Instruction, makes corresponding pre-safeguard procedures for driver controlling other system.
Above-mentioned AEB system, ACC system, LDW system, LKA system, collision warning systems with
And collision disaster reduction system, it is also possible to include that one can be by its in the vehicle bus hardware structure with vehicle
The ECU that the ECU of its system communicates.
Wherein, this AEB system, may be used for going out imminent touching in above-mentioned collision anticipation system anticipation
When hitting, timely respond to the instruction of above-mentioned collision anticipation system, vehicle is braked in advance.
Above-mentioned ACC system, may be used for going out imminent collision in above-mentioned collision anticipation system anticipation
Time, timely respond to the instruction of above-mentioned collision anticipation system, reduce Vehicle Speed control Current vehicle with
The vehicular gap of front vehicles.
Above-mentioned collision warning systems, may be used for going out imminent touching in above-mentioned collision anticipation system anticipation
When hitting, timely responding to the instruction of above-mentioned collision anticipation system, go out above-mentioned collision anticipation system anticipation is
The collision of generation is carried out in advance early warning.
Above-mentioned collision disaster reduction system, can be when vehicle collides, and the very first time responds and takes
Some emergency measures carry out safeguard protection (such as activate air bag, tighten safety belt) to driver；Or
Person, it is also possible to when above-mentioned collision anticipation system anticipation in advance goes out to collide, take in advance
Pre-safeguard procedures carry out security protection to driver, and (such as solution locks door, by on-board high-voltage battery input electricity
Stream is down to 0 in advance).
Above-mentioned LDW system, may be used for vehicle and deviates normal traveling lane in the process of moving, and do not have
When having steering operation, send prompting to driver；
Above-mentioned LKA system, may be used at vehicle when not having steering operation, deviates normal Travel vehicle
During road, the deviation to vehicle is adjusted, and vehicle is sailed back normal navigation channel.
In this example, the console at vehicle can be provided previously by some alternative sensitivity options,
Driver, after starting vehicle, can be by selecting corresponding sensitivity option on console
ADAS system arranges TTC threshold value.
Certainly, in actual applications, user is except passing through to select corresponding sensitivity on console
Option arranges beyond TTC threshold value for ADAS system, it is also possible to arrange for ADAS system
The maximum rate change of high acceleration, maximum deceleration and lateral displacement etc. other can characterize ADAS
The threshold value of the sensitivity of system.
On the one hand, when driving, above-mentioned radar component and CCD camera assembly are detect can for vehicle
After the potential collision target that can collide with vehicle, above-mentioned radar component and the ECU of CCD camera assembly
Can be communicated by the ECU of vehicle bus with above-mentioned collision anticipation system, above-mentioned latent by detect
The ECU of above-mentioned collision anticipation system is reported at collision target.
Meanwhile, during the ECU to collision anticipation system reports potential collision target, above-mentioned radar
The ECU of assembly and CCD camera assembly can also be by the vehicle calculated and above-mentioned potential collision target
To report to above-mentioned collision in the lump pre-as colliding anticipation information for the information such as distance, vehicle and the TTC of this target
Sentence the ECU of system.
When the ECU of collision anticipation system is at the ECU receiving trailer-mounted radar assembly and CCD camera assembly
After the collision anticipation information relevant to potential collision target reported, can be based on the collision anticipation received
Information, each the potential collision target reported for trailer-mounted radar assembly and CCD camera assembly enters respectively
The corresponding anticipation flow process of row, all potential with determine that trailer-mounted radar assembly and CCD camera assembly report
The potential collision target that will collide with vehicle in collision target.
On the other hand, when driving, above-mentioned collision anticipation system can also be for above-mentioned vehicle to vehicle
Perform the detection of dangerous driving behavior, when dangerous driving behavior being detected, can be the most configured to user
TTC value increase, promote collision anticipation sensitivity.
Wherein, above-mentioned dangerous driving behavior, the dangerous driving behavior detected in real time can be included, it is possible to
To include the dangerous driving behavior custom of the driver detected from the historical driving behavior data of driver.
Such as, in actual applications, above-mentioned dangerous driving behavior can include the peace of driver and/or passenger
Full band is in non-tightening state, driver and is in the low state of vigilance degree in driving and vehicle is expert at
The maximum rate change of speed, peak acceleration, maximum deceleration or lateral displacement in car is higher than alert
Ring value, etc..
Certainly, dangerous driving behavior is not limited to dangerous driving behavior illustrated above, such as can also wrap
Include such as indicator to be not related to for a long time, will not enumerate in this example.
Above-mentioned collision anticipation system for above-mentioned vehicle perform dangerous driving behavior detection time, Ke Yitong
Cross the dangerous driving behavior detection device controlling to install on vehicle and carry out real-time detection, it is also possible to from service
Device is downloaded the historical driving behavior data of driver and is analyzed detecting the most dangerous driving of driver
Behavioural habits.
In a kind of embodiment illustrated, when performing the detection of dangerous driving behavior for above-mentioned vehicle,
Above-mentioned collision anticipation system can control vehicle-mounted dangerous driving behavior detection module by vehicle bus, to
Dangerous driving behavior detection module sends the enabled instruction of response, starts dangerous driving behavior detection module.
After dangerous driving behavior detection module starts, the inspection that vehicle is carried out dangerous driving behavior that can be real-time
Survey.
Wherein, the particular hardware form of above-mentioned dangerous driving behavior detection module, generally depend on concrete
Dangerous driving behavior.
Such as, in actual applications, when the safety belt driving car or passenger is in tightening state as
During the dangerous driving behavior being detected, above-mentioned dangerous driving behavior detection module could be for detection and drives
Whether the safety belt of car or passenger is in the seat belt sensor of tightening state；
When by the vehicle speed, peak acceleration, maximum deceleration or lateral displacement in driving
Big speed change higher than warning value as detected dangerous driving behavior time, above-mentioned dangerous driving behavior is examined
Survey module and then can be mounted in the velocity sensor on vehicle body.
When driver being in driving the low state of vigilance degree as detected dangerous driving behavior
Time, above-mentioned dangerous driving behavior detection module can be to be loaded with for detecting whether driver is in vigilance
The vehicle-mounted camera of the algorithm of state, the algorithm that vehicle-mounted camera can perform to load is by driving of collecting
The image of the person of sailing, judges whether driver is in alertness.
Wherein it is desired to explanation, load in vehicle-mounted camera is above-mentioned for detecting whether driver locates
In the algorithm of alertness, it is not particularly limited；It can be such as eye based on driver
Ball motion, direction of gaze or head pose judge whether driver is in the algorithm of vigilance, this area
Technical staff, when the technical scheme of the application being put into practice, is referred to record of the prior art.
In a kind of embodiment illustrated, when performing the detection of dangerous driving behavior for above-mentioned vehicle,
Above-mentioned collision anticipation system can be after the ADAS system that driver's Successful login is vehicle-mounted, to driver's
Historical driving behavior data are analyzed, to detect in the historical behavior data of this driver whether comprise danger
Danger driving behavior custom.
Wherein, the historical driving behavior data of driver, vehicle can be stored in local, it is also possible to storage
Carrying out on the remote server that service is docked with vehicle-mounted ADAS system.
On the one hand, when the historical driving behavior data of driver are stored in vehicle this locality, above-mentioned collision is pre-
Sentence system and can read the historical driving behavior data of driver from the storage that vehicle is local, then to driving
Whether the historical driving behavior data of the person of sailing are analyzed, to detect in the historical behavior data of this driver
Comprise dangerous driving behavior custom.
On the other hand, when the historical driving behavior data of driver are stored on far-end server, above-mentioned touch
Hitting anticipation system can be by the data cube computation pre-build with this remote server, from this remote server
The historical driving behavior data of upper this driver of download, then to this locally downloading historical driving behavior
Data are analyzed, to detect in the historical driving behavior data of this driver whether comprise dangerous driving row
For custom.
Wherein it is desired to explanation, driver logs in the concrete mode of above-mentioned far-end server, in this example
In be not particularly limited；Such as, driver can be by inputting login ID and close on console
Code logs in above-mentioned server, it is also possible to gathers fingerprint by console and mails to log in after service end is verified,
Or mail to log in after server is verified by vehicle-mounted camera scanning driver's iris information.
In this example, the historical driving behavior data of driver are being analyzed by above-mentioned collision anticipation system
Time, can be realized by specific statistical analysis algorithms pre-loaded on ECU.
In above-mentioned historical driving behavior data, generally include during driver drives vehicle each time
Produced related data, in one implementation, above-mentioned statistical analysis algorithms can be to look for above-mentioned
Dangerous driving behavior included in historical driving behavior data, then statistics finds each danger and drives
Sail the number of times of behavior, and calculate this number of times accounting in driver drives the total degree of vehicle, if should
Accounting exceedes certain threshold value, shows that this dangerous driving behavior may be for a kind of dangerous driving row of driver
For custom.
For example, it is assumed that above-mentioned dangerous driving behavior is driver's behavior that safety belt does not fastens when driving,
Above-mentioned threshold value is 60%, then if by analyzing the historical driving behavior number of this driver it has been found that be somebody's turn to do
Driver's number of times that fastening security band is not driven exceedes the 60% of total degree of driving, then it can be assumed that this is driven
There is not this dangerous driving behavior of fastening security band custom of driving in the person of sailing.
In another kind of implementation, above-mentioned statistical analysis algorithms can also be to calculate above-mentioned history to drive row
For the mean value of the attributes such as the speed included in data, then judge whether the mean value calculated reaches
Warning value, if it exceeds warning value, shows that this dangerous driving behavior may be driven for a kind of danger of driver
Sail behavioural habits.
For example, it is assumed that above-mentioned dangerous driving behavior be driver's speed in driving, peak acceleration,
The maximum rate change of maximum deceleration or lateral displacement is higher than the behavior of warning value, then if calculated
Go out the maximum of the speed of all previous driving, peak acceleration, maximum deceleration or the lateral displacement of driver
The mean value of speed change is higher than warning value, then drive this danger it can be assumed that this driver exists hypervelocity
Danger driving behavior custom.
In this example, after performing dangerous driving behavior detection for vehicle, if detecting existence in real time
Dangerous driving behavior, or by historical driving behavior data are analyzed, detect that driver exists
Dangerous driving behavior is accustomed to, and above-mentioned collision anticipation system can be immediately for the dangerous driving behavior detected
Responding, the TTC threshold value pre-setting driver is modified, and increases to set by TTC threshold value
Fixed safety value.
Wherein, the concrete value of the safety value of above-mentioned setting, it is not particularly limited, in reality
In the application of border, can be configured according to actual sensitivity requirement.Such as, when arranging this safety value,
In order to ensure driver when vigilance degree is the highest, remain able in time to go out anticipation potential touches
Hit and make correct reaction, then this safety value can be set to a bigger value, such that it is able to be
Driver reserves the enough reaction time to potential collision.
Certainly, in actual applications, this safety value can also be specifically to comprise the certain gradient of a series of holding
The dynamic threshold of threshold value of change, thus in this way, can under different dangerous driving situations,
Above-mentioned TTC threshold value is increased to different safety values.
In a kind of embodiment illustrated, the multiple safety values corresponding with TTC threshold value can be pre-set,
And it is respectively provided with a corresponding risk class for each safety value.Above-mentioned collision anticipation system is in detection
After the dangerous driving behavior of driver, dangerous driving behavior can be carried out risk assessment to determine this danger
The risk class of danger driving behavior.After determining the risk class of this dangerous driving behavior, can will drive
The above-mentioned TTC threshold value that the person of sailing is arranged increases to the safety value corresponding with this risk class.
Wherein, the above-mentioned collision anticipation system dangerous driving behavior to detecting carries out risk assessment, specifically
Refer to that the degree of danger of the dangerous driving behavior to detection is estimated, then assessment result is quantified
Obtain the process of corresponding risk class.
In a kind of implementation illustrated, can be big according to the concrete numerical value corresponding to dangerous driving behavior
Little assessment risk class.
Such as, when by vehicle speed in driving, peak acceleration, maximum deceleration or horizontal position
The maximum rate change moved higher than warning value as detected dangerous driving behavior time, vehicle can be existed
The maximum rate of speed, peak acceleration, maximum deceleration or lateral displacement in driving is beyond warning
The concrete numerical division of value goes out multiple risk class, then according to the concrete numerical values recited beyond warning value,
Determine the risk class of correspondence.The most beyond warning value, risk class is the highest.
In the another kind of implementation illustrated, it is also possible to the kind of the dangerous driving behavior by detecting
Assess risk class.
Such as, detect that the safety belt of driver and/or passenger is in non-fastening when above-mentioned collision anticipation system
During this dangerous driving behavior of state, a relatively low risk class can be set.When above-mentioned collision anticipation
System not only detects that the safety belt of driver and/or passenger is in non-tightening state this dangerous driving row
For, also detect that this dangerous driving behavior that driver's alertness in driving is relatively low, then permissible
One higher risk class is set.Wherein, the quantity of risk class, can be according to the danger being available for detection
The species number of danger driving behavior is arranged.Such as, it is assumed that the risk driving behavior being available for detection comprises 3 kinds,
3 risk class so can be set, when a kind of dangerous driving behavior of driver only being detected, permissible
Minimum risk class is set, when being detected simultaneously by three kinds of dangerous driving behaviors of driver, can arrange
The highest risk class.
Visible, in this way, risk assessment can be carried out based on to the dangerous driving behavior detected
The risk class drawn, increases to different safety values by TTC threshold value；Detecting that risk class is higher
Dangerous driving behavior time, TTC threshold value can be increased to a bigger safety value, when wind being detected
During the junior dangerous driving behavior in danger, TTC threshold value can be increased to a less safety value,
Such that it is able to realize risk class based on dangerous driving behavior, control the regulation of TTC threshold value dynamically
Sensitivity, can adapt to different dangerous driving sights flexibly.
In this example, after above-mentioned TTC threshold value is increased to the safety value of setting by above-mentioned collision anticipation system,
Above-mentioned collision anticipation system is follow-up can use this TTC threshold value after increase, comes anticipation vehicle and vehicle-mounted thunder
Reach assembly or whether potential collision target that vehicle-mounted camera assembly reports will collide.
Wherein, collision anticipation system is based on above-mentioned TTC threshold value, anticipation trailer-mounted radar assembly and shooting
When whether the potential collision target that head assembly reports will collide with vehicle, can be by collision anticipation
Decision logic pre-loaded in the ECU of system completes.
In a kind of embodiment illustrated, above-mentioned decision logic can include judging that vehicle is potential with above-mentioned
Whether the TTC of collision target is less than the execution logic of the TTC threshold value after above-mentioned increase.
The ECU of collision anticipation system can be by running this decision logic, it is judged that vehicle potential touches with above-mentioned
Whether hit the TTC of target whether less than the TTC threshold value after increasing, carrying out this potential collision target of anticipation is
The target that will collide with vehicle.
If the arbitrary potential collision target that trailer-mounted radar assembly and CCD camera assembly report and vehicle
TTC may determine that this potential collision less than the TTC threshold value after this increase, the ECU of collision anticipation system
Module will collide with vehicle.
Wherein it is desired to explanation, in order to promote collision anticipation the degree of accuracy, above-mentioned decision logic except
Can include judging that whether the vehicle TTC with above-mentioned potential collision target is less than the TTC after above-mentioned increase
Beyond the execution logic of threshold value, it is also possible to further introduce holding of other on the basis of this execution logic
Row logic:
Such as, in one implementation, it is also possible to introduce in above-mentioned decision logic and determine whether car
Currently whether there is the logic of braking, be i.e. less than above-mentioned when vehicle with the TTC of above-mentioned potential collision target
After TTC threshold value after increase, can determine whether whether vehicle is braked, brake when determining
After, the ECU of collision anticipation system determines that this potential crash module will collide with vehicle again.
And for example, in another kind of implementation, it is also possible to introduce in above-mentioned decision logic and determine whether
Whether the TTC of vehicle and this potential collision target rate of change within the unit interval is more than the threshold value set
Execution logic, i.e. TTC after the TTC of vehicle and above-mentioned potential collision target is less than above-mentioned increase
After threshold value, the TTC of vehicle and this potential collision target change within the unit interval can be determined whether
Whether rate is more than the threshold value set, when determining that the TTC of vehicle and this potential collision target is within the unit interval
Rate of change more than the threshold value set after, the ECU of collision anticipation system determines that this potential crash module is i.e. again
To collide with vehicle, will not enumerate in this example.
Visible, in this way, above-mentioned collision anticipation system, can when dangerous driving behavior being detected
So that TTC threshold value to increase to safety value immediately, and it is potential to carry out anticipation based on the TTC threshold value after increasing
Collision, such that it is able to the most longer time anticipation goes out potential collision, reserved more anti-for driver
Between Ying Shi, to promote the security of driver's driving.
In this example, when above-mentioned collision anticipation system, when dangerous driving behavior being detected, if only pin
Carry out increasing operation by the TTC threshold value that console is the setting of ADAS system to driver, may be still
So cannot meet the traffic safety sexual demand of reality.
For example, it is assumed that the behavior that the safety belt that above-mentioned dangerous driving behavior is driver or passenger does not fastens,
Under this situation, if the above-mentioned TTC threshold value only for driver's setting increases, although for driving
The person of sailing has reserved the enough reaction time for potential collision, but due to now driver or passenger
Safety belt do not fasten, be in a kind of improper state, therefore vehicle currently supported by driver
The maximum rate of the lateral displacement that peak acceleration, maximum deceleration reduction and the vehicle arranged allows becomes
Change value, may be the biggest for driver, when vehicle accelerates or deceleration is kept straight on, and driver
Owing to inertia knocks console or the windshield of vehicle front, or vehicle is accelerating or is slowing down horizontal stroke
To travel time (such as doubling), driver due to inertia knock side car door or due to car door do not close by
Throw away the probability of happening outside car the biggest.
In consideration of it, in this example, when above-mentioned collision anticipation system, when dangerous driving behavior being detected,
In order to promote the traffic safety of driver further, except can be ADAS by console to driver
The TTC threshold value that system is arranged carries out increasing beyond operation, it is also possible to set driver for ADAS system
The lateral displacement that the peak acceleration of such as vehicle put, maximum deceleration reduce and vehicle allows is
Big speed change is reduced to the safety value set.
On the one hand, when above-mentioned collision anticipation system, when dangerous driving behavior being detected, except can be right
Driver is that the TTC threshold value that ADAS system is arranged increases to beyond the safety value of setting by console,
The peak acceleration of the vehicle of driver's setting and maximum deceleration can also be reduced to the safety set
Value.
Wherein, in actual applications, set above-mentioned in peak acceleration and the maximum deceleration for vehicle
During safety value, it is also possible to be configured according to actual sensitivity requirement.
For example, it is assumed that above-mentioned dangerous driving behavior, the row not fastened for the safety belt of driver or passenger
For, under this situation, when arranging this safety value, this safety value can be set to one can be true
Guarantor driver, under safety belt is in non-tightening state, still will make driver knock car due to inertia
The console in front or the acceleration of windshield or deceleration value, thus in this way,
When vehicle-mounted acceleration or deceleration are kept straight on, can significantly reduce owing to inertia makes driver knock vehicle
The console in front or the probability of windshield, be in non-tightening state at safety belt promoting driver
Under level of security.
Certainly, in actual applications, the safety set for peak acceleration and the maximum deceleration of vehicle
It is worth the dynamic threshold that this can also be specifically the threshold value comprising the certain graded of a series of holding, thus logical
Cross this mode, can be under different dangerous driving situations, by peak acceleration and the maximum of vehicle
Deceleration is reduced to different safety values.
On the other hand, when above-mentioned collision anticipation system, when dangerous driving behavior being detected, except permissible
To driver by console be ADAS system arrange TTC threshold value increase to set safety value with
Outward, it is also possible to the maximum rate change of the lateral displacement that vehicle driver arranged allows is reduced to set
Safety value.
Wherein, in actual applications, when the maximum rate for lateral displacement changes and sets above-mentioned safety value,
Can also be configured according to actual sensitivity requirement.
For example, it is assumed that the behavior that the safety belt that above-mentioned dangerous driving behavior is driver or passenger does not fastens,
Under this situation, when arranging this safety value, this safety value can be set to one and be able to ensure that and drive
The person of sailing, under safety belt is in non-tightening state, still will make driver knock side car due to inertia
Door or owing to car door does not closes the maximum rate changing value of the lateral displacement being thrown out of outside car, thus passes through
This mode, when vehicle-mounted acceleration or deceleration are laterally kept straight on, can significantly reduce owing to inertia makes
Driver knock side car door or due to car door do not close be thrown out of outside car probability, to promote driving
Person's level of security under safety belt is in non-tightening state.
Certainly, in actual applications, the safety value set for the maximum rate change of the lateral displacement of vehicle
This can also be specifically the dynamic threshold of the threshold value comprising the certain graded of a series of holding, thus passes through
This mode, can become the maximum rate of the lateral displacement of vehicle under different dangerous driving situations
Change and be reduced to different safety values.
Visible by example above, on the one hand, dangerous driving behavior to be detected, driver is arranged
After TTC threshold value increases to the safety value set, can be driver reserve for potential collision enough
Reaction time.
On the other hand, on the basis of TTC threshold value is increased to the safety value set, will drive further
The maximum speed of the lateral displacement that the peak acceleration of vehicle, maximum deceleration and the vehicle that person is arranged allows
Rate change be reduced to set safety value so that driver not only for potential collision have enough
Reaction time, it is also possible to significantly reduce vehicle accelerate or slow down keep straight on time, owing to inertia makes to drive
The person of sailing knocks console or the windshield of vehicle front, and vehicle is accelerating or deceleration lateral line
When sailing, owing to inertia makes driver knock side car door or be thrown out of outside car owing to car door does not closes
Probability of happening.
In sum, above-mentioned collision anticipation system is when dangerous driving behavior being detected, by increasing TTC
Threshold value, and reduce the lateral displacement of the peak acceleration of vehicle, maximum deceleration and vehicle permission
Maximum rate change be combined with each other, and can promote driver's peace when being in dangerous driving state further
Full protection rank.
In this example, the above-mentioned collision anticipation loaded by operation as the ECU of above-mentioned collision anticipation system is patrolled
Volume, anticipation goes out the arbitrary potential collision target that vehicle and trailer-mounted radar assembly and CCD camera assembly report and is
When will collide, the ECU of above-mentioned collision anticipation system can pass through vehicle bus, with ADAS system
The ECU of other subsystem in system communicates, the ECU of other subsystem in ADAS system
Sending corresponding control instruction, the ECU controlling other subsystem performs corresponding the most anti-towards driver
Protect operation.
In a kind of embodiment illustrated, the ECU of above-mentioned collision anticipation system anticipation go out vehicle with on
State potential collision target when will collide:
First aspect, the ECU of above-mentioned collision anticipation system can respond in advance, with vehicle-mounted AEB
The ECU of system communicates, and sends corresponding control instruction to the ECU of AEB system, passes through AEB
The ECU of system controls vehicle and performs to brake in advance；For example, it is possible to by the ECU of AEB system soft
The brake system of part roofing control vehicle fulfils brake ahead of schedule.
Second aspect, the ECU of above-mentioned collision anticipation system can respond in advance, with vehicle-mounted ACC
The ECU of system communicates, and sends corresponding control instruction to the ECU of ACC system, passes through ACC
The ECU of system reduces the travel speed of vehicle, to control the vehicular gap of Current vehicle and front vehicles.
Wherein, owing to acceleration and the deceleration value of now vehicle have been decreased by the safety value set,
Now the ECU of ACC system is when reducing the vehicular gap that speed controls with front truck, and car speed reduces
Amplitude will reduce, the change of car speed will tend to be steady, will not be excessive right due to longitudinal inertia
Driver damages.
The third aspect, the ECU of above-mentioned collision anticipation system can respond in advance, with vehicle-mounted collision
The ECU of early warning system communicates, and sends corresponding control instruction to the ECU of collision warning systems,
Activate risk indicating lamp immediately by the ECU of collision warning systems, will send out exporting collision to driver
The prompting of raw collision.
Fourth aspect, the ECU of above-mentioned collision anticipation system can respond in advance, with vehicle-mounted LDW
The ECU of system communicates, when vehicle is not carried out the steering operation normal traveling lane of deviation, to
The ECU of LDW system sends corresponding control instruction, is activated by the ECU of LDW system and is used for referring to
Show the indicator lamp of run-off-road, send prompting to driver.
5th aspect, the ECU of above-mentioned collision anticipation system can respond in advance, with vehicle-mounted LKA
The ECU of system communicates, when vehicle is not carried out the steering operation normal traveling lane of deviation, to
The ECU of LKA system sends corresponding control instruction, by inclined to vehicle of the ECU of LKA system
From being adjusted, vehicle is sailed back normal navigation channel.
Wherein, it has been reduced to the safety of setting due to the maximum rate change of now vehicle permission lateral displacement
Value, therefore the ECU of LKA system is when being adjusted the skew of vehicle, and normal navigation channel sailed go back to by vehicle
Time will increase, vehicle is sailed back the speed in normal navigation channel and will be tended to be steady, will not be due to horizontal used
Property is excessive to be damaged driver.
Certainly, in actual applications, when above-mentioned collision anticipation system ECU can anticipation go out vehicle with on
State potential collision target when will collide, except listed above go out security protection operation in addition to, also
Other type of safety precautions can be expanded and protect measure, will not enumerate in this example.
In addition, it is necessary to explanation, in actual applications, comprise in the hardware structure of above-mentioned vehicle is each
Assembly and the ECU of each system, can functionally carry out multiplexing；That is, those skilled in the art are inciting somebody to action
When the technical scheme of the application puts into practice, it is possible to use arbitrary existing in the hardware structure of vehicle
ECU, undertakes the function of other ECU.Such as, in actual application, it is possible to use radar component
The ECU of ECU or other system replaces the function of the ECU of above-mentioned collision anticipation system.
By the description of embodiment of above, the application is by performing dangerous driving behavior for vehicle
Detection, and in response to the dangerous driving behavior detected, collision time threshold value driver set increases
To the safety value set, it is then based on the described collision time threshold value after increasing and performs the anticipation of vehicle collision,
Achieve when dangerous driving behavior being detected, can be automatically increased when the collision of anticipation potential collision
Between threshold value, and carry out the collision of anticipation vehicle based on the collision time threshold value after increasing, thus danger detected
Under the driving sight of danger driving behavior, the sensitivity of collision anticipation can be strengthened, be effectively improved driving
Security.
And, in this application, by collision time threshold value being increased in the dangerous driving behavior detected
To the safety value set, increase to set by the collision time threshold value that driver sets further
Safety value collision anticipation, by driver set the peak acceleration of vehicle, maximum deceleration and car
Allow lateral displacement maximum rate change be reduced to set safety value so that driver is not
The enough reaction time having only for potential collision, it is also possible to significantly reduce vehicle and accelerating or subtracting
When speed is kept straight on, owing to inertia makes driver knock console or the windshield of vehicle front, and
Vehicle accelerating or during deceleration cross running, due to inertia make driver knock side car door or by
The probability of happening being thrown out of outside car is not closed in car door, such that it is able to further in the situation of dangerous driving
The level of security of vehicle.
Referring to Fig. 3, the present invention also provides for the anticipation system 30 of a kind of vehicle collision, is applied to vehicle；
Refer to Fig. 4, as in the hardware structure that the vehicle of anticipation system 30 carrying described vehicle collision relates to,
ECU, internal memory, nonvolatile memory, interface and vehicle bus etc. can be included.Implemented in software
As a example by, each module in the anticipation system 30 of described vehicle collision can be understood as the meter being carried in internal memory
Calculation machine program, forms logic module by ECU after being run.
The anticipation system 30 of described vehicle collision includes detection module 301, increases module 302, anticipation mould
Block 303 and reduction module 304；Wherein
Detection module 301, for performing dangerous driving behavior detection for vehicle；
Increase module 302, in response to the described dangerous driving behavior detected, driver being set
Collision time threshold value increase to set safety value；
Anticipation module 303, for based on the described collision time threshold value after increasing, performing vehicle collision
Anticipation.
In this example, described dangerous driving behavior includes the dangerous driving behavior detected in real time；
Described detection module 301 specifically for:
After vehicle launch, perform the real-time detection of dangerous driving behavior for described vehicle.
In this example, described dangerous driving behavior includes the driving detected from historical driving behavior data
The dangerous driving behavior custom of person；
Described detection module 302 specifically for:
Read the historical driving behavior that vehicle is locally stored, or
Based on the data cube computation pre-build with described server download history from described server and drive row
For data；
It is analyzed detecting included in described historical driving behavior data for described historical behavior data
Dangerous driving behavior custom.
In this example, the multiple safety values corresponding to described collision time threshold value are set；Wherein, described many
The most corresponding different risk class of individual safety value；
Described increase module 303 specifically for:
Carry out risk assessment for the described dangerous driving behavior detected and determine risk class；
Carry out, in response to for described dangerous driving behavior, the risk class that risk assessment is determined, will drive
The collision time threshold value that person sets increases to the safety value corresponding with this risk class.
In this example, described system 30 also includes:
Reduce module 304, in response to the dangerous driving behavior detected, car driver set
Peak acceleration and maximum deceleration be reduced to set safety value.
In this example, described reduction module 304 is further used for:
In response to the dangerous driving behavior detected, the lateral displacement that vehicle driver set allows
Maximum rate change is reduced to the safety value set.
In this example, one or more during described dangerous driving behavior includes following behavior:
The safety belt of driver and/or passenger is in non-tightening state；
Driver is in the state that vigilance degree is low in driving；
The maximum speed of vehicle speed, peak acceleration, maximum deceleration or lateral displacement in driving
Rate change is higher than warning value.
In this example, described anticipation module 303 specifically for:
Receive described trailer-mounted radar or potential collision target that vehicle-mounted camera reports, and vehicle is with described
The collision time of potential collision target；
Judge that whether described collision time is less than the described collision time threshold value after increasing；
When described collision time is less than the collision time threshold value after described increase, it is determined that vehicle is with described
Collision target will collide.
In this example, described anticipation module 303 is further used for:
Will collide with described potential collision target if anticipation goes out vehicle, perform in following operation
One or more:
Reduce Vehicle Speed and control the vehicular gap with front vehicles；
Start brake apparatus to perform to brake in advance for vehicle；
Open risk indicating lamp prompting user's collision will occur.
It will be appreciated by those skilled in the art that the module in the device in embodiment can be according to embodiment
Describe in the device being distributed in embodiment, it is also possible to carry out respective change and be disposed other than present embodiment
One or more devices in.The module of above-mentioned embodiment can merge into a module, it is possible to enters one
Step splits into multiple submodule.Foregoing invention embodiment numbering, just to describing, does not represent embodiment party
The quality of formula.
The foregoing is only the better embodiment of the present invention, not in order to limit the present invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, all should comprise
Within the scope of protection of the invention.
Claims (18)
1. the pre-judging method of a vehicle collision, it is characterised in that described method includes:
Dangerous driving behavior detection is performed for vehicle；
In response to the described dangerous driving behavior detected, collision time threshold value driver set increases
To the safety value set；
Based on the described collision time threshold value after increasing, perform the anticipation of vehicle collision.
2. the method for claim 1, it is characterised in that described dangerous driving behavior includes in real time
The dangerous driving behavior detected；
Described method also includes:
After vehicle launch, perform the real-time detection of dangerous driving behavior for described vehicle.
3. the method for claim 1, it is characterised in that described dangerous driving behavior includes from going through
The dangerous driving behavior custom of the driver detected in history driving behavior data；
Described method also includes:
Read the historical driving behavior that vehicle is locally stored, or
Based on the data cube computation pre-build with server download historical driving behavior number from described server
According to；
It is analyzed detecting included in described historical driving behavior data for described historical behavior data
Dangerous driving behavior custom.
4. the method for claim 1, it is characterised in that set corresponding to described collision time threshold
Multiple safety values of value；Wherein, the most corresponding different risk class of the plurality of safety value；
The described safety value increasing to the collision time threshold value that driver sets set, including:
Carry out risk assessment for the described dangerous driving behavior detected and determine risk class；
Carry out, in response to for described dangerous driving behavior, the risk class that risk assessment is determined, will drive
The collision time threshold value that person sets increases to the safety value corresponding with this risk class.
5. the method for claim 1, it is characterised in that described method also includes:
In response to the dangerous driving behavior detected, the peak acceleration of the vehicle that driver is set and
Maximum deceleration is reduced to the safety value set.
6. method as claimed in claim 5, it is characterised in that described method also includes:
In response to the dangerous driving behavior detected, the lateral displacement that vehicle driver set allows
Maximum rate change is reduced to the safety value set.
7. the method as described in as arbitrary in claim 1～6, it is characterised in that described dangerous driving behavior
One or more including in following behavior:
The safety belt of driver and/or passenger is in non-tightening state；
Driver is in the state that vigilance degree is low in driving；
The maximum speed of vehicle speed, peak acceleration, maximum deceleration or lateral displacement in driving
Rate change is higher than warning value.
8. the method for claim 1, it is characterised in that described based on the described collision after increasing
Time threshold, the anticipation performing vehicle collision includes:
Receive described trailer-mounted radar or potential collision target that vehicle-mounted camera reports, and vehicle is with described
The collision time of potential collision target；
Judge that whether described collision time is less than the described collision time threshold value after increasing；
When described collision time is less than the collision time threshold value after described increase, it is determined that vehicle is with described
Collision target will collide.
9. the method for claim 1, it is characterised in that if to go out vehicle potential with described in anticipation
Collision target will collide, and performs one or more in following operation:
Reduce Vehicle Speed and control the vehicular gap with front vehicles；
Start brake apparatus to perform to brake in advance for vehicle；
Open risk indicating lamp prompting user's collision will occur.
10. the anticipation system of a vehicle collision, it is characterised in that described system includes:
Detection module, for performing dangerous driving behavior detection for vehicle；
Increase module, in response to the described dangerous driving behavior detected, by touching that driver sets
Hit the safety value that time threshold increases to set；
Anticipation module, for based on the described collision time threshold value after increasing, performing the anticipation of vehicle collision.
11. systems as claimed in claim 10, it is characterised in that described dangerous driving behavior includes reality
Time the dangerous driving behavior that detects；
Described detection module specifically for:
After vehicle launch, perform the real-time detection of dangerous driving behavior for described vehicle.
12. systems as claimed in claim 10, it is characterised in that described dangerous driving behavior include from
The dangerous driving behavior custom of the driver detected in historical driving behavior data；
Described detection module specifically for:
Read the historical driving behavior that vehicle is locally stored, or
Based on the data cube computation pre-build with server download historical driving behavior number from described server
According to；
It is analyzed detecting included in described historical driving behavior data for described historical behavior data
Dangerous driving behavior custom.
13. systems as claimed in claim 10, it is characterised in that set corresponding to described collision time
Multiple safety values of threshold value；Wherein, the most corresponding different risk class of the plurality of safety value；
Described increase module specifically for:
Carry out risk assessment for the described dangerous driving behavior detected and determine risk class；
Carry out, in response to for described dangerous driving behavior, the risk class that risk assessment is determined, will drive
The collision time threshold value that person sets increases to the safety value corresponding with this risk class.
14. systems as claimed in claim 10, it is characterised in that described system also includes:
Reduce module, in response to the dangerous driving behavior detected, by the vehicle of driver's setting
Peak acceleration and maximum deceleration are reduced to the safety value set.
15. systems as claimed in claim 14, it is characterised in that described reduction module is further used for:
In response to the dangerous driving behavior detected, the lateral displacement that vehicle driver set allows
Maximum rate change is reduced to the safety value set.
16. as arbitrary in claim 10～15 as described in system, it is characterised in that described dangerous driving row
It is include in following behavior one or more:
The safety belt of driver and/or passenger is in non-tightening state；
Driver is in the state that vigilance degree is low in driving；
The maximum speed of vehicle speed, peak acceleration, maximum deceleration or lateral displacement in driving
Rate change is higher than warning value.
17. systems as claimed in claim 10, it is characterised in that described anticipation module specifically for:
Receive described trailer-mounted radar or potential collision target that vehicle-mounted camera reports, and vehicle is with described
The collision time of potential collision target；
Judge that whether described collision time is less than the described collision time threshold value after increasing；
When described collision time is less than the collision time threshold value after described increase, it is determined that vehicle is with described
Collision target will collide.
18. systems as claimed in claim 10, it is characterised in that described anticipation module is further used for:
Will collide with described potential collision target if anticipation goes out vehicle, perform in following operation
One or more:
Reduce Vehicle Speed and control the vehicular gap with front vehicles；
Start brake apparatus to perform to brake in advance for vehicle；
Open risk indicating lamp prompting user's collision will occur.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610340747.0A CN105882655A (en) | 2016-05-20 | 2016-05-20 | Method and system for pre-judging vehicle collision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610340747.0A CN105882655A (en) | 2016-05-20 | 2016-05-20 | Method and system for pre-judging vehicle collision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105882655A true CN105882655A (en) | 2016-08-24 |
Family
ID=56717563
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610340747.0A Pending CN105882655A (en) | 2016-05-20 | 2016-05-20 | Method and system for pre-judging vehicle collision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105882655A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108806018A (en) * | 2017-04-28 | 2018-11-13 | 华为技术有限公司 | A kind of data processing method, data processing equipment and intelligent automobile |
| CN109435960A (en) * | 2018-10-29 | 2019-03-08 | 成都云科新能汽车技术有限公司 | A kind of control method for vehicle |
| CN109961532A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | Dangerous information early warning and transmission storage system |
| CN110267856A (en) * | 2017-03-01 | 2019-09-20 | 本田技研工业株式会社 | Controller of vehicle, control method for vehicle and program |
| CN110857072A (en) * | 2018-08-22 | 2020-03-03 | 宝马股份公司 | Method for ensuring the functional safety and integrity of a shut-off device and vehicle |
| CN111252066A (en) * | 2020-01-19 | 2020-06-09 | 一汽解放汽车有限公司 | Emergency braking control method and device, vehicle and storage medium |
| CN111292493A (en) * | 2020-01-19 | 2020-06-16 | 恒大新能源汽车科技(广东)有限公司 | Vibration reminding method, device, electronic equipment and system |
| CN111626334A (en) * | 2020-04-28 | 2020-09-04 | 东风汽车集团有限公司 | Key control target selection method of vehicle-mounted advanced auxiliary driving system |
| CN112339693A (en) * | 2020-11-30 | 2021-02-09 | 的卢技术有限公司 | Method and device for automatically unlocking vehicle door lock, computer equipment and storage medium |
| CN114212102A (en) * | 2021-12-01 | 2022-03-22 | 智己汽车科技有限公司 | Auxiliary driving method, system and device for avoiding lateral collision |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101968917A (en) * | 2006-10-13 | 2011-02-09 | 丰田自动车株式会社 | Vehicle-mounted warning apparatus |
| JP2011195082A (en) * | 2010-03-23 | 2011-10-06 | Toyota Motor Corp | Vehicle controller |
| US20130135092A1 (en) * | 2011-11-25 | 2013-05-30 | National Chiao Tung University | Driving behavior analysis and warning system and method thereof |
| CN103310202A (en) * | 2013-06-27 | 2013-09-18 | 西安电子科技大学 | System and method for guaranteeing driving safety |
| CN103523012A (en) * | 2012-07-03 | 2014-01-22 | 沃尔沃汽车公司 | Motor vehicle collision warning system |
| US8788176B1 (en) * | 2013-06-19 | 2014-07-22 | Ford Global Technologies, Llc | Adjustable threshold for forward collision warning system |
-
2016
- 2016-05-20 CN CN201610340747.0A patent/CN105882655A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101968917A (en) * | 2006-10-13 | 2011-02-09 | 丰田自动车株式会社 | Vehicle-mounted warning apparatus |
| JP2011195082A (en) * | 2010-03-23 | 2011-10-06 | Toyota Motor Corp | Vehicle controller |
| US20130135092A1 (en) * | 2011-11-25 | 2013-05-30 | National Chiao Tung University | Driving behavior analysis and warning system and method thereof |
| CN103523012A (en) * | 2012-07-03 | 2014-01-22 | 沃尔沃汽车公司 | Motor vehicle collision warning system |
| US8788176B1 (en) * | 2013-06-19 | 2014-07-22 | Ford Global Technologies, Llc | Adjustable threshold for forward collision warning system |
| CN103310202A (en) * | 2013-06-27 | 2013-09-18 | 西安电子科技大学 | System and method for guaranteeing driving safety |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110267856A (en) * | 2017-03-01 | 2019-09-20 | 本田技研工业株式会社 | Controller of vehicle, control method for vehicle and program |
| CN108806018A (en) * | 2017-04-28 | 2018-11-13 | 华为技术有限公司 | A kind of data processing method, data processing equipment and intelligent automobile |
| CN109961532A (en) * | 2017-12-25 | 2019-07-02 | 大连楼兰科技股份有限公司 | Dangerous information early warning and transmission storage system |
| CN110857072A (en) * | 2018-08-22 | 2020-03-03 | 宝马股份公司 | Method for ensuring the functional safety and integrity of a shut-off device and vehicle |
| CN110857072B (en) * | 2018-08-22 | 2023-07-11 | 宝马股份公司 | Method for ensuring functional safety and integrity of a shut-off device and vehicle |
| CN109435960A (en) * | 2018-10-29 | 2019-03-08 | 成都云科新能汽车技术有限公司 | A kind of control method for vehicle |
| CN111292493A (en) * | 2020-01-19 | 2020-06-16 | 恒大新能源汽车科技(广东)有限公司 | Vibration reminding method, device, electronic equipment and system |
| CN111252066A (en) * | 2020-01-19 | 2020-06-09 | 一汽解放汽车有限公司 | Emergency braking control method and device, vehicle and storage medium |
| CN111626334A (en) * | 2020-04-28 | 2020-09-04 | 东风汽车集团有限公司 | Key control target selection method of vehicle-mounted advanced auxiliary driving system |
| CN111626334B (en) * | 2020-04-28 | 2023-07-14 | 东风汽车集团有限公司 | Key control target selection method for vehicle-mounted advanced auxiliary driving system |
| CN112339693A (en) * | 2020-11-30 | 2021-02-09 | 的卢技术有限公司 | Method and device for automatically unlocking vehicle door lock, computer equipment and storage medium |
| CN112339693B (en) * | 2020-11-30 | 2022-09-20 | 的卢技术有限公司 | Method and device for automatically unlocking vehicle door lock, computer equipment and storage medium |
| CN114212102A (en) * | 2021-12-01 | 2022-03-22 | 智己汽车科技有限公司 | Auxiliary driving method, system and device for avoiding lateral collision |
| CN114212102B (en) * | 2021-12-01 | 2024-03-19 | 智己汽车科技有限公司 | Auxiliary driving method, system and device for avoiding lateral collision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105882655A (en) | Method and system for pre-judging vehicle collision | |
| US11755012B2 (en) | Alerting predicted accidents between driverless cars | |
| US9841762B2 (en) | Alerting predicted accidents between driverless cars | |
| CN105015548B (en) | A kind of longitudinal collision avoidance is reminded and follows integrated system and method automatically | |
| US8952799B2 (en) | Method and system for warning a driver of a vehicle about potential obstacles behind the vehicle | |
| CN103043057B (en) | Abnormal driving based on vehicle position information judges and warning system | |
| WO2021217752A1 (en) | Vehicle-pedestrian collision risk region calculation method and safety evaluation system | |
| CN106184202A (en) | A kind of automatic emergency steering for vehicle and control method thereof | |
| CN111731284B (en) | Driving assistance method and device, vehicle-mounted terminal equipment and storage medium | |
| CN107031553A (en) | A kind of tailgating-proof system and method for vehicle | |
| CN104039623B (en) | For monitoring current method and control unit | |
| US20200023836A1 (en) | Method for automated prevention of a collision | |
| CN109677404A (en) | A kind of the automobile active safety auxiliary device and method of the bus or train route collaboration based on driving behavior | |
| CN105235681A (en) | Vehicle rear-end collision preventing system and method based on road surface conditions | |
| CN104773172A (en) | Apparatus and computer program for controlling vehicle tracking target vehicle | |
| CN107344552A (en) | Dynamic monitoring omnidirectional vehicle anti-collision early warning system | |
| CN107399290A (en) | Safe driving assistant system and its control method | |
| CN204845924U (en) | Vertically keep away to hit and remind and follow integrated system automatically | |
| CN110126730A (en) | Vehicle lane change based reminding method and system | |
| CN103010210A (en) | Automobile active rear-ending-preventing control system and control method | |
| CN108839658B (en) | Fatigue driving monitoring system and method | |
| CN106448190A (en) | Real-time monitoring and early-warning device and method for nearby vehicle flow for vehicle on highway | |
| CN109249930A (en) | A kind of intelligent vehicle collision safety prediction technique | |
| CN105128838B (en) | The method and system of active reduction of speed are carried out to automobile in crossing | |
| CN103144619A (en) | Apparatus and method for controlling emergency braking based on condition information of a 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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160824 |
|
| RJ01 | Rejection of invention patent application after publication |