CN106167008A - Autobrake system and self-actuating brake method - Google Patents

Autobrake system and self-actuating brake method Download PDF

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Publication number
CN106167008A
CN106167008A CN201510261459.1A CN201510261459A CN106167008A CN 106167008 A CN106167008 A CN 106167008A CN 201510261459 A CN201510261459 A CN 201510261459A CN 106167008 A CN106167008 A CN 106167008A
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China
Prior art keywords
vehicle
collision
described object
module
dynamic mobile
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陈舜鸿
陈俊傑
张良钲
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Automotive Research and Testing Center
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Automotive Research and Testing Center
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Priority to CN201510261459.1A priority Critical patent/CN106167008A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention provides a kind of autobrake system and self-actuating brake method.Autobrake system comprises a detecting module, a tracing module, a collision trajectory prediction module, a collision time prediction module, a memory body buffer and a decision-making module.The object of detecting module identification vehicle front, and follow the trail of with tracing module.Collision trajectory prediction module defines one may collision scope and a non-collision scope.The record of memory body buffer falls within the coordinate position record of each object in the range of may colliding；If object leaves possible collision scope person, then immediately its data Self-memory body buffer is removed.Collision time prediction module estimates the collision time of each object and vehicle.Decision-making module judges whether the brake auxiliary of actuated vehicle according to collision time.Whereby, improve the response speed of autobrake system, and be added to the suitability under various situation.

Description

Autobrake system and self-actuating brake method
Technical field
The present invention is about a kind of autobrake system and self-actuating brake method, especially, is can about one Detect multiple target objects in advance, and can when changing Lane the autobrake system of collision free and self-actuating brake side Method.
Background technology
The most only it is unable to cope with day by day complicated environment with the reaction of vehicle driver, thus driver Individual's reaction is good corrupt will significantly affect traffic safety.Auxiliary vehicle driver is to increase the driving of traffic safety Aid system is developed.These drive assist systems are in order to provide the vehicle outside manipulating independent of driver certainly Dynamic evil spirit stops ability.Even such as provide enough brake force to slow down speed by vehicle in time will colliding with front truck Stop completely, with the generation of collision free.
Aforementioned drive assist system generally measures the distance with front truck by sensor, and uses processing unit to enter Row judging distance signal and speed, and will determine that result is sent to a control unit, to control the speed of vehicle Or determine that abrupt deceleration vehicle self-actuating brake maintains the distance of vehicle and front truck or stops completely.Separately or also have in car With leading vehicle distance or speed to during a marginal value by vehicle automatic turning with collision free.
But, aforesaid mode the most easily lost efficacy, such as excessive with front truck speed gap, Or when crossing near with leading vehicle distance, sensor, because of its Initiated Mechanism or the difference of installation position, will be unable to instant React and cause control unit cannot immediately slow down speed or actuated vehicle self-actuating brake, thus result in collision and send out Raw.
When above-mentioned problem specifically occurs in driver's changing Lane especially.After driver's changing Lane, usual palpus Until steering wheel return just after, sensor detecting vehicle target lead object once again, can wake up driving auxiliary system System, if now speed is higher (such as 30kph), then sensor reaction is too late, and cannot keep foot by actuated vehicle Enough braking distances, and make collision occur.That is, aforesaid drive assist system only limit be applied to vehicle just before Can effective operation under side and low velocity situation.
Edge this, the drive assist system of various situation is still eager to seek to deal with comprehensively in manufacturer.
Summary of the invention
According to upper, the present invention provides an autobrake system, and it is based on the car body multidate information estimation car of vehicle With the collision track of multiple objects, and define according to the position of collision track and each object may collision Scope, and utilize memory body buffer record simultaneously fall within vehicle front may collision in the range of one or more The coordinate position of object, and estimate fall within may the collision time of each object and vehicle in the range of collision, To determine the brake supplementary mode of vehicle, such as, warning, pre-brake or active brake etc. are proposed.Whereby, in Instant reaction is provided, it is to avoid collision occurs during vehicle changing Lane.
For reaching above-mentioned purpose, in an embodiment, the present invention provides an autobrake system, comprises a detecting Module, a tracing module, a collision trajectory prediction module, a memory body buffer, a collision time prediction Module and a decision-making module.Detecting module is to detect and identification is positioned at one or more of a vehicle front Object.Tracing module is to follow the trail of multiple objects of dynamic mobile.Collision trajectory prediction module is to use Track is collided with the one of multiple objects with the car body multidate information estimation vehicle according to vehicle, and according to touching Possible collision scope and a non-collision scope is defined in the position hitting track and each object.Memory body buffer It it is the coordinate position recording and falling within one or more object in the range of may colliding.If there being multiple target Thing falls within the range of may colliding, and the coordinate position of each object is recorded in memory body buffer the most simultaneously； If object has initial fall within may in the range of collision, but leave afterwards may collision scope person, then by it Data Self-memory body buffer is removed.Collision time prediction module is to be used to multiple object fall within and may send out Time in the range of raw collision, estimate a collision time of each object and vehicle.Decision-making module is in order to according to touching The time of hitting judges whether the brake auxiliary of actuated vehicle.
In aforesaid autobrake system, detecting module can comprise a degree of depth acquisition unit, an image capture list Unit and an integrated treatment unit.Degree of depth acquisition unit is the space bit detecting and obtaining each object Confidence ceases.Image acquisition unit is that the image capturing each object carries out identification and obtains an image feature Information.Integrated treatment unit is spatial positional information and the image character information receiving each object, and Perform a scoring to judge each object kind.In another example, detecting module is can be with satellite fix system System (GPS) and dedicated short range communication system (DSRC) collocation form, its be utilize global position system be obtain Vehicle and the latitude and longitude coordinates of each object；Dedicated short range communication system and each object is utilized mutually to transmit row Car signal, and obtain the relative position relation between vehicle and each object through Coordinate Conversion, and then can obtain Relative distance, relative angle or relative velocity etc. between vehicle and each object, and can pass through an identification code obtain Obtain object kind.
In aforesaid autobrake system, fall within non-collision scope person, the most not if multiple object having initiate Record its data.
In aforesaid autobrake system, tracing module is to follow the trail of through an extended Kalman filter algorithm Multiple objects of dynamic mobile.Extended Kalman filter algorithm can be represented by following relationship:
And x ^ k - = A x ^ i - 1 ;
Wherein xpiFor the x-axis position of dynamic mobile object, ypiY-axis position for dynamic mobile object Put, viFor the speed of dynamic mobile object, φiFor the direct of travel of dynamic mobile object, △ t is The sample time of the successive relative positions of input dynamic mobile object and vehicle, A is dynamic mobile object State transition model.
In aforesaid autobrake system, vehicle body multidate information comprises the horizontal speed that vehicle moves in the left and right sides Degree and transverse acceleration.
In aforesaid autobrake system, the collision track in left and right vehicle wheel both sides can be by following relationship table Show:
y l ( t ) = α l x l 2 ( t ) + β l x l ( t ) + ϵ l + y l 0 ; And
y r ( t ) = α r x r 2 ( t ) + β r x r ( t ) + ϵ r + y r 0 ;
Wherein:
xi,yi, i=l, r are respectively vehicle in the lateral attitude of the left and right sides and lengthwise position；
αi, i=l, r are that vehicle is in the lateral velocity of the movement of the left and right sides；And
βi, i=l, r are that vehicle is in the transverse acceleration of the movement of the left and right sides.
In aforesaid autobrake system, possible collision scope can be represented by following relationship:
y obs ( i ) > y l ( t ) &cap; y obs ( i ) > y r ( t ) &cap; x obs ( i ) > x l &cap; x obs ( i ) < x r ;
Wherein x(i) obs,y(i) obsIt is respectively lateral attitude and the lengthwise position of each object.
In another embodiment, the present invention provides a self-actuating brake method, comprises: detecting identification are positioned at one One or more object of vehicle front；A tracing module is utilized to follow the trail of multiple objects of dynamic mobile；Profit A collision track is defined according to a car body multidate information of vehicle with a collision trajectory prediction module；Through collision The position of track and each object defines one may collision scope and a non-collision scope；If one or more target Thing falls within person in the range of may colliding, then utilizes a memory body buffer to record the seat of each object simultaneously Cursor position, if object has initial fall within may in the range of collision, but leave afterwards may collision scope person, Then its data Self-memory body buffer is removed.If multiple objects fall within person in the range of may colliding, A collision time of each object and vehicle is then estimated with a collision time prediction module；Utilize a decision-making module The collision time being pointed to the object in right ahead track corresponding is analyzed, and then determines according to criticality Fixed proposition warns, vehicle carries out pre-brake or actuated vehicle actively brake；If vehicle is converted into its side car Road, and the object being positioned at the right ahead in its side track still falls within the range of may colliding, then continue Utilize decision-making module according to collision time, according to criticality determine to propose warning, vehicle is carried out pre-brake or Actuated vehicle actively brake.
In aforesaid self-actuating brake method, fall within non-collision scope person, the most not if multiple object having initiate Record its data.
In aforesaid self-actuating brake method, detecting identification are positioned at multiple objects of vehicle front and can pass through one Detecting module is.Detecting module comprises a degree of depth acquisition unit, an image acquisition unit and an integrated treatment Unit；Utilize degree of depth acquisition unit can detect and obtain a spatial positional information of each object；Utilize image The image of each object of acquisition unit fechtable carries out identification, and obtains an image character information；And utilize Integrated treatment unit receives spatial positional information and the image character information of each object, and performs a scoring machine System is to judge each object kind.In another example, detecting module also can use global position system to combine specially It is that it is that to utilize global position system be to obtain vehicle and the longitude and latitude of each object with short range communication system Coordinate；Dedicated short range communication system and each object is utilized mutually to transmit train signal, and through Coordinate Conversion Obtain the relative position relation between vehicle and each object, so can obtain between vehicle with each object relative Distance, relative angle or relative velocity etc., and can pass through an identification code acquisition object kind.
In aforesaid self-actuating brake method, tracing module is to follow the trail of through an extended Kalman filter algorithm Multiple objects.Additionally, vehicle body multidate information comprises lateral velocity that vehicle moves and laterally in the left and right sides Acceleration.Extended Kalman filter algorithm is the most aforementioned to be mentioned, repeats no more.
Accompanying drawing explanation
Fig. 1 is to illustrate the autobrake system configuration diagram according to one embodiment of the invention；
Fig. 2 is to illustrate detecting module in Fig. 1 to use degree of depth acquisition unit to combine image acquisition unit framework to show It is intended to；
Fig. 3 is to illustrate the detecting module in Fig. 1 to use global position system to combine dedicated short range communication system frame Structure schematic diagram；
Fig. 4 is to illustrate the self-actuating brake method flow schematic diagram according to one embodiment of the invention；
Fig. 5 is to illustrate the present invention one application examples schematic diagram；And
Fig. 6 is to illustrate Another Application of the present invention to illustrate intention.
Detailed description of the invention
The following drawings illustrate multiple embodiments of the present invention.As clearly stated, in many practices Details will be explained in the following description.It should be appreciated, however, that the details in these practices is not applied To limit the present invention.It is to say, in section Example of the present invention, the details right and wrong in these practices must Want.Additionally, for the sake of simplifying accompanying drawing, some known usual structures and element in the accompanying drawings will be with simply The mode of signal illustrates；And the element repeated may use and be identically numbered expression.
Refer to Fig. 1, Fig. 1 is to illustrate the autobrake system configuration diagram according to one embodiment of the invention.
It is pre-that autobrake system 100 comprises detecting module 101, tracing module 102, collision track Survey module 103, collision time prediction module 104 and a decision-making module 105.
Through detecting module 101, can detect and identification is positioned at multiple objects of a vehicle front, to distinguish Object kind, such as object are pedestrian, locomotive or bicycle etc.；The detecting model of detecting module 101 Enclose and comprise the scope that may touch car body (containing vehicle body, Back mirror, bumper bar etc.) when vehicle moves forward.
When object dynamic mobile, then utilize tracing module 102 tracing and positioning, in order to obtain object and sit Cursor position.
Collision trajectory prediction module 103 is according to the car body multidate information of vehicle itself, estimation vehicle and multiple mesh Mark thing it may happen that collision collision track, and according to obtain collision track and each object coordinate position circle Making may collision scope and non-collision scope.
When one or more object falls within possible collision scope person, then with collision time prediction module 104 Obtain the collision time of each object and vehicle.
Decision-making module 105 judges the emergency action action of vehicle according to collision time, such as, propose warning, right Vehicle carries out pre-brake or actuated vehicle actively brake etc..
Above-mentioned autobrake system 100 comprises a memory body buffer 106.When one or more object is positioned at In the range of may colliding, the coordinate position of each object is recorded in memory body buffer 106 the most simultaneously, if In multiple objects, have and initial i.e. fall within non-collision scope person, the most do not record its data.If it is it addition, multiple In object, have initial fall within may in the range of collision, but leave afterwards may collision scope person, then by it Data Self-memory body buffer is removed.Whereby, as long as falling within each object in the range of may colliding, all will Its data record, so that the overall autobrake system 100 of order can (speed be too fast or and front under extreme situation Spacing is the nearest) immediate reaction, and affect traffic safety without restarting system when the vehicle changing Lane.Separately Outward, if in the range of object falls within non-collision, then its data are neither recorded, and avoid system resource to consume whereby Take, accelerate system response speed.
Above-mentioned detecting module 101 can have several and implement kenel.Heal based on environment now and become complicated, pure The most do not apply required with the detecting degree of depth (distance) or detecting image mode.Edge this, the present invention provides at least two Possible embodiment, please with reference to Fig. 2 and Fig. 3.
In Fig. 2, detecting module 101 is to combine an image acquisition unit 101b with a degree of depth acquisition unit 101a Implement.Degree of depth acquisition unit 101a in order to detect and obtain each object spatial positional information (as distance, Position coordinates etc.)；And image acquisition unit 101b is in order to capture the image of each object, and carries out impact and distinguish Know to obtain image character information.The locus of each object is separately received with an integrated treatment unit 101c Information and image character information, and perform a scoring to judge each object kind.Aforementioned by object The identification mode that is combined with image of the degree of depth can promote and debate knowledge rate.
In Fig. 3, detecting module 101 is to combine a special short distance with a global position system (GPS) 201a to lead to Communication system (DSRC) 201b implements.It is that global position system 201a installed through each car obtains self Latitude and longitude coordinates, more mutually transmit signal through dedicated short range communication system 201b in each workshop, make each car All can get the relative position relation of itself and adjacent workshop, and then push away to obtain relative distance, relative angle, relatively speed Degree, and thus can determine whether security relationship each other.About aforementioned combination global position system 201a and special One example of short range communication system 201b, can be in the lump with reference to TaiWan, China patent of invention TW I356011B1 Content.
Above-mentioned tracing module 102 is through an extended Kalman filter algorithm tracing and positioning dynamic mobile Multiple objects, in order to obtain object position.Owing to object is not limited to linear mobile, in order to Can estimate that the object of nonlinear moving is dynamic more accurately, such as detecting dynamic object thing is relative with vehicle Distance or relative angle etc., estimate dynamic object thing hence with an extended Kalman filter algorithm Translational speed, moving direction and present position.
Extended Kalman filter algorithm can represent with following relationship:
And x ^ k - = A x ^ i - 1 ;
Wherein xpiFor the x-axis position of dynamic mobile object, ypiY-axis position for dynamic mobile object Put, viFor the speed of dynamic mobile object, φiFor the direct of travel of dynamic mobile object, △ t is The sample time of the successive relative positions of input dynamic mobile object and vehicle, A is dynamic mobile object State transition model.
About an example of previous extension formula Kalman filtering algorithm application, can send out with reference to TaiWan, China in the lump Bright patent TW 201422473A content.
In above-mentioned vehicle body multidate information, comprise lateral velocity that vehicle moves in the left and right sides and laterally accelerate Degree, is the use obtaining colliding track.Collision track in left and right vehicle wheel both sides can be by following relationship table Show:
y l ( t ) = &alpha; l x l 2 ( t ) + &beta; l x l ( t ) + &epsiv; l + y l 0 ; And
y r ( t ) = &alpha; r x r 2 ( t ) + &beta; r x r ( t ) + &epsiv; r + y r 0 ;
Wherein:
xi,yi, i=l, r are respectively vehicle in the lateral attitude of the left and right sides and lengthwise position；
αi, i=l, r are that vehicle is in the lateral velocity of the movement of the left and right sides；And
βi, i=l, r are that vehicle is in the transverse acceleration of the movement of the left and right sides.
Above-mentioned possible collision scope can be represented by following relationship:
y obs ( i ) > y l ( t ) &cap; y obs ( i ) > y r ( t ) &cap; x obs ( i ) > x l &cap; x obs ( i ) < x r ;
Wherein x(i) obs,y(i) obsIt is respectively lateral attitude and the lengthwise position of each object.
Using above-mentioned autobrake system 100, the self-actuating brake flow process that it is implemented please continue with reference to Fig. 4. In Fig. 4, disclosed self-actuating brake method comprises the steps of:
S101, detecting identification are positioned at one or more object of a vehicle front.
S102, utilizes a tracing module to follow the trail of one or more object of dynamic mobile.
S103, utilizes a collision trajectory prediction module to define a collision rail according to a car body multidate information of vehicle Mark.
S104, defines one through collision track and the coordinate position of each object and may collision scope and non-touch Hit scope.
S105, if falling within person in the range of possible collision, then by the coordinate of each object at least one object Location records is in a memory body buffer, and estimates each object and vehicle with a collision time prediction module One collision time；If at least one object having in the range of originally falling within possible collision, but leave possibility afterwards Collision scope and fall within person in the range of non-collision, then by its related data Self-memory body buffer remove.
S106, the collision time utilizing a decision-making module to be pointed to the object in right ahead track corresponding is entered Row is analyzed, and then determines to propose warning according to criticality, vehicle carries out pre-brake or actuated vehicle actively stop Car.
S107, if vehicle is converted into side (left side or right side) track, and be positioned at the vehicle in side track just before The object of side still falls within the range of may colliding, then utilize decision-making module according to the collision of vehicle-to-target thing Time, determine to propose warning, vehicle carries out pre-brake or actuated vehicle actively brake according to criticality.
In abovementioned steps S101, as it was previously stated, detecting module 101 can be used for it.Detecting module 101 An image acquisition unit 101b enforcement can be combined by a degree of depth acquisition unit 101a, or with a satellite fix system System 201a combines a dedicated short range communication system 201b to be implemented.Can pass through dedicated short range communication system 201b Transmission identification code, obtains the type of adjacent car.
In abovementioned steps S105, non-collision scope person, the most not record are the most fallen within if object having initiate Its data.
By preceding method, no matter when straight-line travelling or changing Lane, the most simultaneously by it may happen that collision Object position data record, then determine, with the collision time of vehicle, the brake that vehicle is follow-up according to each object Auxiliary movement, make vehicle under any situation all can immediate reaction without postpone, improve traffic safety.
Please continue with reference to Fig. 5 and Fig. 6.Fig. 5 is to illustrate the present invention one application examples schematic diagram.Fig. 6 is to illustrate this Invention Another Application illustrates and is intended to.
In Fig. 5, the autobrake system 100 of the present invention is configured on vehicle A.Work as vehicle A runs Time, the detecting module 101 first with autobrake system 100 performs detecting identification, is just being identified in it Track, front L1 and and left-hand lane or right-hand lane L2 on object be vehicle B～E.In another shape In condition, vehicle B～E also may be locomotive, bicycle or pedestrian etc..Continue, utilize autobrake system Vehicle B～E of the tracing module 102 location tracking dynamic mobile of 100, and utilize autobrake system 100 Collision trajectory prediction module 103, according to car body multidate information estimation vehicle A and vehicle B～E of vehicle A Collision track T.For vehicle A, its possible left and right turn, therefore in the left and right sides of vehicle A all Track T can be collided.Continue, define one according to the position of collision track T and each vehicle B～E and may touch Hit scope S1 and non-collision scope S2.If fall within may collision scope S1 person (as vehicle B, C, D), then the coordinate position of vehicle B, C, D is recorded in the memory body buffer of autobrake system 100 106, and estimate vehicle D, B, C with collision time prediction module 104 and touch relative to the multiple of vehicle A Hit time TTC1, TTC2 and TTC3.If vehicle is i.e. had not fall within possible collision scope S1, then initial Do not record its data.May collision scope if the target vehicle originated in possible collision scope S1 is already out S1, then fall within non-collision scope S2, now, then will remove in its data Self-memory body buffer 106. Continue, the decision-making module 105 of autobrake system 100 according to collision time TTC1, TTC2 and TTC3, Judge the follow-up disposal action of vehicle A.Such as in the vehicle B phase of vehicle A and dead ahead track L1 When close to time, then decision-making module 105 determines to propose warning according to criticality, or vehicle A is carried out pre-stopping Car is to slow down speed or actuated vehicle A actively brake to stopping.In an emergency, vehicle A drives The person of sailing also may attempt to changing Lane with collision free, and such as it is intended to turn to vehicle A and switches to right side Track L2.According to the prediction of collision track T, when it is converted into right-hand lane L2, it is positioned at vehicle A The vehicle C of dead ahead also falls in possible collision scope S1, therefore also may collide with vehicle A, this Time, the memory body buffer 106 of autobrake system 100 still records collision time TTC3 of vehicle C, Therefore the decision-making module 105 of autobrake system 100 still continues start, warn according to criticality decision proposition, Vehicle A is carried out pre-brake to slow down speed or actuated vehicle A actively brake to stopping.Need to be to object Because turning to, the action such as acceleration or deceleration, and arrive its when falling within non-collision scope S2 of this car (vehicle A), That is when leaving possible collision scope S1 of this car, just by clear for its related data Self-memory body buffer 106 Remove.By above-mentioned, autobrake system 100 is still perseveration under emergency, it is not necessary to restart, So as to being added to the response speed under critical condition, improve traffic safety.
In Fig. 5, the detecting module 101 being installed in this car (vehicle A) is to use degree of depth acquisition unit 101a Mode in conjunction with image acquisition unit 101b carries out identification to vehicle B～E.In Fig. 6, detecting module 101 Also can have different application mode, it is to use global position system (GPS) 201a to combine DSRC system System (DSRC) 201b for it, uses degree of depth acquisition unit 101a to be combined image to obtain with detecting module 101 Reconnaissance ranges different during acquisition unit 101b.This application mode is based on being developing progressively ripe at present The framework of inter-vehicle communication.Such as all build detecting module 101 in vehicle A～D, and can pass through special short Journey communication system 201b transmits mutually driving relevant information (such as driving course, road speed and position etc.). During actual enforcement, set up based on vehicle A, then can pass through the global position system on each vehicle A～D 201a obtains the latitude and longitude coordinates of each vehicle A～D, and after coordinate transformation, is passed through by each vehicle A～D The spherical coordinate system that global position system 201a is obtained is converted into vehicle B～D and vehicle A to each other Opposite planar coordinate system, in order to obtain vehicle B～D and vehicle A to each other relative to dynamic relationship, together Time can pass through an identification code and learn vehicle B～D kind, such as motor bus, lorry, compact car or link car Deng.Continue step S102～S107 renewed in row Fig. 4, to judge the relevant start of vehicle A.
More than Zong He, the autobrake system 100 of the present invention have reaction quickly without postpone and changing Lane without The feature such as need to restart, it has wide range of applications, it is adaptable to various driving conditions, can be effectively improved traffic safety.
Although the present invention is disclosed above with embodiment, so it is not limited to the present invention, any familiar This those skilled in the art, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations, therefore Protection scope of the present invention is when being defined in the range of standard depending on appending claims.

Claims (12)

1. an autobrake system, it is characterised in that comprise:
One detecting module, is to detect and identification is positioned at one or more object of a vehicle front；
One tracing module, is the described object following the trail of dynamic mobile；
One collision trajectory prediction module, be in order to according to a car body multidate information of this vehicle estimate this vehicle with One collision track of described object, and define one according to the position of this collision track and each this object may Collision scope and a non-collision scope；
One memory body buffer, is to record one or more object fallen within the range of this possibility is collided Coordinate position, if in the range of wherein having this object multiple to fall within the collision of this possibility, the most simultaneously by respectively this target The coordinate position of thing is recorded in this memory body buffer, if there being initial this possibility that falls within to collide in described object In the range of, but leave this possibility collision scope person afterwards, then its data are removed from this memory body buffer；
One collision time prediction module, is to be used to estimate when described object falls within the range of this possibility is collided Respectively this object and a collision time of this vehicle；And
One decision-making module, is in order to judge whether to activate the brake of this vehicle auxiliary according to this collision time.
Autobrake system the most according to claim 1, it is characterised in that this detecting module comprises:
One degree of depth acquisition unit, is the spatial positional information detecting and obtaining respectively this object；
One image acquisition unit, is that the image capturing respectively this object carries out identification and obtains an image spy Reference ceases；And
One integrated treatment unit, is this spatial positional information and this image feature receiving respectively this object Information, and perform a scoring to judge respectively this object kind.
Autobrake system the most according to claim 1, it is characterised in that this detecting module is knot Unification global position system and a dedicated short range communication system form；This global position system is to obtain this The latitude and longitude coordinates of vehicle；This dedicated short range communication system is in order to mutually to transmit signal with respectively this object, Obtain this vehicle and each relative position relation between this object, and then obtain this vehicle and respectively between this object Relative distance, relative angle or relative velocity, and obtain this object kind through an identification code.
Autobrake system the most according to claim 1, it is characterised in that this tracing module is Cross an extended Kalman filter algorithm and follow the trail of the described object of dynamic mobile；Wherein this expanded type karr Graceful filtering algorithm is to be represented by following relationship:
And x ^ k - = A x ^ i - 1 ;
Wherein:
xpiX-axis position for the described object of dynamic mobile；
ypiY-axis position for the described object of dynamic mobile；
viSpeed for the described object of dynamic mobile；
φiDirect of travel for the described object of dynamic mobile；
△ t is the described object sample time with the successive relative positions of this vehicle of input dynamic mobile； And
A is the state transition model of the described object of dynamic mobile.
Autobrake system the most according to claim 1, it is characterised in that this vehicle body multidate information Comprise lateral velocity and transverse acceleration that this vehicle moves in the left and right sides.
Autobrake system the most according to claim 1, it is characterised in that in this left and right vehicle wheel two This collision track of side is represented by following relationship:
y l ( t ) = &alpha; l x l 2 ( t ) + &beta; l x l ( t ) + &epsiv; l + y l 0 ;
y r ( t ) = &alpha; r x r 2 ( t ) + &beta; r x r ( t ) + &epsiv; r + y r 0 ;
Wherein:
xi,yi, i=l, r are respectively this vehicle in the lateral attitude of the left and right sides and lengthwise position；
αi, i=l, r are that this vehicle is in the lateral velocity of the movement of the left and right sides；And
βi, i=l, r are that this vehicle is in the transverse acceleration of the movement of the left and right sides.
Autobrake system the most according to claim 6, it is characterised in that this possibility collision scope Represented by following relationship:
y obs ( i ) > y l ( t ) &cap; y obs ( i ) > y r ( t ) &cap; x obs ( i ) > x l &cap; x obs ( i ) < x r ;
Wherein x(i) obs,y(i) obsIt is respectively lateral attitude and the lengthwise position of respectively this object.
8. a self-actuating brake method, it is characterised in that comprise:
Detecting identification are positioned at one or more object of a vehicle front；
A tracing module is utilized to follow the trail of the described object of dynamic mobile；
A collision trajectory prediction module is utilized to define a collision track according to a car body multidate information of this vehicle；
Defining one through the position of this collision track and each this object may collision scope and a non-collision model Enclose；
If described object position falls within person in the range of the collision of this possibility, then utilize a memory body buffer simultaneously The coordinate position of each this object of record, initial falls within the range of this possibility collides if having in described object, But leave this possibility collision scope person afterwards, then its data are removed from this memory body buffer；
If described object falls within person in the range of the collision of this possibility, then pre-with a collision time prediction module Estimate respectively this object and a collision time of this vehicle；
A decision-making module is utilized to be pointed to this collision time that this object in this right ahead track is corresponding It is analyzed, and then determines to propose warning, this vehicle carries out pre-brake or activates this vehicle according to criticality Actively brake；And
If this vehicle is converted into a side track, and is positioned at this target of this right ahead in this side track In the range of thing still falls within the collision of this possibility, then this decision-making module of sustainable utilization is according to this collision time, according to critical Degree determines to propose warning, this vehicle carries out pre-brake or activates the actively brake of this vehicle.
Self-actuating brake method the most according to claim 8, it is characterised in that detecting identification are positioned at The described object of this vehicle front is through a detecting module for it；This detecting module comprises a degree of depth and captures Unit, an image acquisition unit and an integrated treatment unit；This degree of depth acquisition unit is utilized to detect and obtain respectively One spatial positional information of this object；The image utilizing this image acquisition unit to capture respectively this object is carried out Identification also obtains an image character information；And utilize this integrated treatment unit to receive this sky of respectively this object Between positional information and this image character information, and perform a scoring to judge each this object kind.
Self-actuating brake method the most according to claim 8, it is characterised in that detecting identification are positioned at The described object of this vehicle front is through a detecting module for it；This detecting module comprises a satellite fix System and a special short range communication system；Utilizing this global position system is that the longitude and latitude obtaining this vehicle is sat Mark；Utilize this dedicated short range communication system and respectively this object mutually to transmit signal, and obtain this vehicle with each Relative position relation between this object, and then obtain the relative distance between this vehicle with respectively this object, phase To angle or relative velocity, and obtain this object kind through an identification code.
11. self-actuating brake methods according to claim 8, it is characterised in that this tracing module is Cross an extended Kalman filter algorithm and follow the trail of described object；This extended Kalman filter algorithm is Represented by following relationship:
And x ^ k - = A x ^ i - 1 ;
Wherein:
xpiX-axis position for the described object of dynamic mobile；
ypiY-axis position for the described object of dynamic mobile；
viSpeed for the described object of dynamic mobile；
φiDirect of travel for the described object of dynamic mobile；
△ t is the described object sample time with the successive relative positions of this vehicle of input dynamic mobile； And
A is the state transition model of the described object of dynamic mobile.
12. self-actuating brake methods according to claim 8, it is characterised in that this vehicle body multidate information Comprise lateral velocity and transverse acceleration that this vehicle moves in the left and right sides.
CN201510261459.1A 2015-05-21 2015-05-21 Autobrake system and self-actuating brake method Pending CN106167008A (en)

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Application publication date: 20161130