CN106585595A - Automatic driving method used during slipping and intelligent car - Google Patents
Automatic driving method used during slipping and intelligent car Download PDFInfo
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- CN106585595A CN106585595A CN201611184653.5A CN201611184653A CN106585595A CN 106585595 A CN106585595 A CN 106585595A CN 201611184653 A CN201611184653 A CN 201611184653A CN 106585595 A CN106585595 A CN 106585595A
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- Prior art keywords
- intelligent vehicle
- distance
- car slipping
- vehicle
- intelligent
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Classifications
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an automatic driving method used during slipping and an intelligent car, belongs to the technical field of intelligent driving and aims to improve the driving safety during slipping. The method comprises the steps that whether the intelligent car slips or not is determined; whether the distance between the intelligent car and a vehicle behind the intelligent car is smaller than a critical value or not is detected in real time when it is determined that the intelligent car slips; and the intelligent car is stopped when the distance is smaller than the critical value. The method is used for automatic car driving.
Description
Technical field
The invention belongs to intelligent driving technical field, and in particular to a kind of automatic Pilot method and intelligence during generation car slipping
Car.
Background technology
With the development and the raising of human living standard of science and technology, automobile has become the requisite friendship of mankind's trip
Logical instrument.In the last few years, increasing substantially with automobile pollution, the safety in vehicle traveling process have become this life circle
Numerous countries focus of attention problem the most.According to statistics, the vehicle accident in recent years of the world car recoverable amount country of the first six is dead
Number is annual more than 130,000, and Chinese transportation death tolls were annual 60000 people or so in recent years.Vehicle accident gives people people
Body brings safely huge injury, meanwhile, huge economic loss is also brought to country.
In vehicle accident, due to the vehicle accident that car slipping is caused, although sub-fraction is only accounted in whole vehicle accident,
But hidden trouble of traffic which brings, the security of the lives and property still can not be ignored.Car is being stopped when waiting red light, driver is past
Toward losing vigilance, this chance of taking advantage of having sees the mobile phone, and occurs attention in time is tended not to during car slipping.Accordingly, there exist than larger
Potential safety hazard.
The content of the invention
Embodiments provide it is a kind of occur car slipping when automatic Pilot method and intelligent vehicle, to improve generation car slipping
When driving safety.
On the one hand, there is provided a kind of automatic Pilot method during generation car slipping, methods described include：
Determine whether intelligent vehicle occurs car slipping；
When it is determined that the intelligent vehicle occurs car slipping, whether the distance between intelligent vehicle described in real-time detection and front vehicle
Less than marginal value；
When the distance is less than the marginal value, stop the intelligent vehicle.
Alternatively, in one embodiment, whether the determination intelligent vehicle occurs car slipping includes：
An object using the intelligent vehicle periphery as object of reference, determine the intelligent vehicle relative to the object of reference away from
From whether changing；
When the distance is changed, determine that the intelligent vehicle occurs car slipping；
When the distance is not changed in, determine that the intelligent vehicle does not occur car slipping.
Further, it is described when the distance is changed, determine that the intelligent vehicle occurs car slipping and includes：
When the object of reference is the object in front of the intelligent vehicle, if the intelligent vehicle relative to the object of reference away from
From increase, it is determined that the intelligent vehicle occurs car slipping；
In the object that the object of reference is the intelligent vehicle rear, if the intelligent vehicle relative to the object of reference away from
From reduction, it is determined that the intelligent vehicle occurs car slipping.
Alternatively, in another embodiment, when it is determined that the intelligent vehicle occurs car slipping, methods described also includes：
Driver is reminded to note in the form of speech.
Alternatively, in another embodiment, before whether the determination intelligent vehicle occurs car slipping, methods described is also wrapped
Include：
Real-time detection speed；
When speed is 0, determine whether intelligent vehicle occurs car slipping.
On the other hand, there is provided a kind of intelligent vehicle, the intelligent vehicle include：
Processing meanss, for determining whether intelligent vehicle occurs car slipping；
Detection means, it is for when the processing meanss determine that the intelligent vehicle occurs car slipping, intelligent described in real-time detection
Whether the distance between car and front vehicle are less than marginal value；
Control device, for the distance between the intelligent vehicle and front vehicle is detected in the detection means less than institute
When stating marginal value, stop the intelligent vehicle.
Alternatively, in one embodiment, the processing meanss specifically for：
An object using the intelligent vehicle periphery as object of reference, determine the intelligent vehicle relative to the object of reference away from
From whether changing；
When the distance is changed, determine that the intelligent vehicle occurs car slipping；
When the distance is not changed in, determine that the intelligent vehicle does not occur car slipping.
Further, the processing meanss specifically for：
When the object of reference is the object in front of the intelligent vehicle, if the intelligent vehicle relative to the object of reference away from
From increase, it is determined that the intelligent vehicle occurs car slipping；
In the object that the object of reference is the intelligent vehicle rear, if the intelligent vehicle relative to the object of reference away from
From reduction, it is determined that the intelligent vehicle occurs car slipping.
Alternatively, in another embodiment, when the processing meanss determine that the intelligent vehicle occurs car slipping, the control
Device processed is additionally operable to：
Controlling loudspeaker sends voice reminder driver and notes.
Alternatively, in another embodiment, the detection means is additionally operable to：Real-time detection speed；
The processing meanss specifically for：When it is 0 that the detection means detects speed, determine whether intelligent vehicle occurs
Car slipping.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：
When intelligent vehicle occurs car slipping, face by whether the distance between intelligent vehicle described in real-time detection and front vehicle are less than
Dividing value, and when less than marginal value stop intelligent vehicle, so, it is possible to improve driving safety when there is car slipping.
Description of the drawings
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to making needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, can be obtaining other according to these accompanying drawings
Accompanying drawing.
The flow chart of automatic Pilot method when Fig. 1 is generation car slipping provided in an embodiment of the present invention；
Fig. 2 is the hardware arrangement figure of intelligent vehicle provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of fore-aft vehicle environment of the intelligent vehicle provided in an embodiment of the present invention under car slipping situation；
Fig. 4 is the structural representation of intelligent vehicle provided in an embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
The flow chart of automatic Pilot method when Fig. 1 is generation car slipping provided in an embodiment of the present invention.With reference to Fig. 1, this
Automatic Pilot method during the generation car slipping that bright embodiment is provided may include：
11st, determine whether intelligent vehicle occurs car slipping.
In this step, determine whether intelligent vehicle occurs car slipping and may include：Using an object of the intelligent vehicle periphery as
Object of reference, determines whether the intelligent vehicle is changed relative to the distance of the object of reference；When the distance is changed, institute is determined
State intelligent vehicle and car slipping occurs；When the distance is not changed in, determine that the intelligent vehicle does not occur car slipping.Wherein, intelligent vehicle
Periphery can be front, rear and the both sides of intelligent vehicle.
Meanwhile, when the distance is changed, determine that the intelligent vehicle occurs car slipping and includes：It is described in the object of reference
During object in front of intelligent vehicle, if the intelligent vehicle increases relative to the distance of the object of reference, the intelligent vehicle is can determine that
Generation car slipping；In the object that the object of reference is the intelligent vehicle rear, if the intelligent vehicle is relative to the object of reference
Distance reduces, then can determine that the intelligent vehicle occurs car slipping.
Wherein, object of reference referred to herein can be various types of object, for example, intelligent vehicle front or behind
Vehicle, the building of intelligent vehicle front or behind etc..
In the specific implementation, the object of intelligent vehicle periphery can be gathered with first-class image collecting device is such as imaged.Together
When can utilize the distance of image processing algorithm computational intelligence car and such as objects in front.Concrete grammar can be first to gather big
Amount object picture, such as vehicle and building picture are formed positive and negative sample database, which are instructed using machine learning method
Practice, obtain describing the mathematical model of vehicle and building information.Vehicle and building are determined according to lane detection algorithm
Detection zone.Detect whether in designated area with the presence of vehicle or building, if it does, calculating vehicle or building and this
The transverse and longitudinal distance of car.
12nd, when it is determined that the intelligent vehicle occurs car slipping, the distance between intelligent vehicle described in real-time detection and front vehicle
Whether marginal value is less than.
Wherein, the marginal value can be set as needed, and the marginal value is, for example, 2 meters, 3 meters etc..
In embodiments of the present invention, when it is determined that the intelligent vehicle occurs car slipping, can be reminded with the traveling of voice and be driven
Member notes.The content of voice can for example be " car slipping is just occurring, it is noted that " etc..
In embodiments of the present invention, ultrasonic radar can be installed after intelligent vehicle, and using the ultrasonic radar examining
Survey front vehicle.
Certainly, when the intelligent vehicle does not occur car slipping, can be processed according to conventional situation, for example to intelligent vehicle not
It is controlled operation.
13rd, when the distance is less than the marginal value, stop the intelligent vehicle.Specifically, can be to the intelligence
Car carries out brake to stop intelligent vehicle.The embodiment of the present invention can be reequiped to the brakes of intelligent vehicle, using line traffic control
Dynamic technology, realizes active brake.
When the distance is not less than the marginal value, real-time detection speed can be continued, and determine whether speed is 0, if
Speed is 0, then can continue executing with above-mentioned steps 11 to step 13.Certainly, if speed is not 0, in abnormal driving state.
Automatic Pilot method during generation car slipping provided in an embodiment of the present invention, when intelligent vehicle occurs car slipping, by reality
When whether detect the distance between the intelligent vehicle and front vehicle less than marginal value, and when less than marginal value stop intelligent vehicle
Only, so, it is possible to improve driving safety when there is car slipping.
To make those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings the present invention is made into
One step is described in detail.
Intelligent vehicle hardware setting
Intelligent vehicle hardware arrangement is arranged can be as shown in Figure 2.Vehicle front windshield is provided with such as one image collector
Put, for example photographic head, for detecting front vehicles, road ahead environment.Rear view of vehicle is provided with such as one ultrasonic radar,
For detecting front vehicle.Vehicle is reequiped to brakes, using brake-by-wire technology, realizes active brake.
Stop and detect
In the case of pilot steering, in real time speed is detected.If it find that speed is 0, then it represents that vehicle runs into friendship
It is logical it is smooth, the problems such as run into red light, anti-slip aid system starts.Certainly, if speed is not 0, still keep pilot steering.
Front environment measuring
After anti-slip aid system starts, vehicle-mounted visual system, ultrasonic radar, active brake system will start work.
Using certain object in cameras capture such as front environment, can be front vehicles, or other objects of front.Profit
With image processing algorithm computational intelligence car and the distance of objects in front.Concrete grammar is first to gather a large amount of vehicles and building figure
Piece, is formed positive and negative sample database, which is trained using machine learning method, obtains describing vehicle and building letter
The mathematical model of breath.Vehicle and building detection zone are determined according to lane detection algorithm.Detect whether in designated area
With the presence of vehicle or building, if it does, calculating the transverse and longitudinal distance of vehicle or building and this car.
Judge whether car slipping
According to the vehicle and the distance change of objects in front of detection, judge whether intelligent vehicle car slipping phenomenon occurs and (can refer to
Fig. 3).If there is car slipping (that is, in the case where object of reference is objects in front, the distance of vehicle and objects in front increases), then
Early warning can be sent.If generation car slipping, in real time speed can be detected.
Early warning
Intelligent vehicle finds car slipping phenomenon, is reminded to driver, it is desirable to cause driver to note in the way of voice message.With
This simultaneously, rear ultrasonic radar will start, real-time detection front vehicle.If detecting intelligent vehicle with front vehicle apart from little
In critical distance, then can active brake.If the distance for detecting intelligent vehicle with front vehicle can continue not less than critical distance
Send prompting voice, at the same can real-time detection speed, and speed be 0 when, perform above step 11-13.
Active brake
When voice message does not cause driver to note, and intelligent vehicle and front vehicle are apart from when being less than critical distance, main
Dynamic brakes will start, and system by the way of pro-active intervention, intelligent vehicle will be stopped and be stopped, and then avoid sending out for collision accident
It is raw.
Automatic Pilot method during generation car slipping provided in an embodiment of the present invention, can be detected to speed first, if
It is 0 to detect speed, then start anti-slip DAS (Driver Assistant System).Judge whether to send out using preposition video camera and image processing algorithm
Raw car slipping；When there is car slipping, system can give driver alert in the way of voice message, and utilize rearmounted ultrasound wave thunder
Up to detecting to front vehicle.When ultrasonic radar detects the distance between intelligent vehicle and front vehicle less than critical distance
When, active brake system will start, and the mode of intervention of taking the initiative stops intelligent vehicle, and then collision free accident occurs.
Fig. 4 is the structured flowchart of intelligent vehicle provided in an embodiment of the present invention.With reference to Fig. 4, intelligence provided in an embodiment of the present invention
Energy car 400 includes detection means 401, processing meanss 402 and control device 403.Wherein, the detection means 401 can be to take the photograph
Camera, the processing meanss 402 can be CPU, and the control device 403 can be controller.
Processing meanss 402, for determining whether intelligent vehicle occurs car slipping；
Detection means 401, for when the processing meanss 402 determine that the intelligent vehicle occurs car slipping, real-time detection institute
The distance between intelligent vehicle and front vehicle are stated whether less than marginal value；
Control device 403, for the distance between the intelligent vehicle and front vehicle is detected in the detection means 401
During less than the marginal value, stop the intelligent vehicle.
Intelligent vehicle provided in an embodiment of the present invention, intelligent vehicle occur car slipping when, by intelligent vehicle described in real-time detection with
Whether the distance between front vehicle is less than marginal value, and when less than marginal value stops intelligent vehicle, so, it is possible to improve and sends out
Driving safety during raw car slipping.
Alternatively, in one embodiment, the processing meanss 402 can be specifically for：
An object using the intelligent vehicle periphery as object of reference, determine the intelligent vehicle relative to the object of reference away from
From whether changing；
When the distance is changed, determine that the intelligent vehicle occurs car slipping；
When the distance is not changed in, determine that the intelligent vehicle does not occur car slipping.
Further, the processing meanss 402 can be specifically for：
When the object of reference is the object in front of the intelligent vehicle, if the intelligent vehicle relative to the object of reference away from
From increase, it is determined that the intelligent vehicle occurs car slipping；
In the object that the object of reference is the intelligent vehicle rear, if the intelligent vehicle relative to the object of reference away from
From reduction, it is determined that the intelligent vehicle occurs car slipping.
Alternatively, in one embodiment, it is when the processing meanss 402 determine that the intelligent vehicle occurs car slipping, described
Control device 403 can be additionally used in：Controlling loudspeaker sends voice reminder driver and notes.
In embodiments of the present invention, the detection means 401 can be additionally used in：Real-time detection speed.Correspondingly, the process
Device 402 can be specifically for：When it is 0 that the detection means 401 detects speed, determine whether intelligent vehicle occurs car slipping.
Intelligent vehicle provided in an embodiment of the present invention, first can detect to speed, if it is 0 to detect speed, start
Anti-slip DAS (Driver Assistant System).When there is car slipping, front vehicle is detected using rearmounted ultrasonic radar.Work as ultrasound
Ripple detections of radar to the distance between intelligent vehicle and front vehicle less than critical distance when, active brake system will start, and take
The mode of pro-active intervention stops intelligent vehicle, and then collision free accident occurs.
It should be noted that：Each device in the intelligent vehicle that above-described embodiment is provided simply is said by way of example
Bright, in practical application, any hardware for completing all or part of function described above can be seen as belonging to corresponding dress
Hardware in putting.In addition, the intelligent vehicle that above-described embodiment is provided belongs to same with automatic Pilot embodiment of the method when there is car slipping
One design, which implements process and refers to embodiment of the method, repeats no more here.
One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can pass through hardware
To complete, it is also possible to instruct the hardware of correlation to complete by program, described program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read only memory, disk or CD etc..
The foregoing is only presently preferred embodiments of the present invention, not to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. it is a kind of occur car slipping when automatic Pilot method, it is characterised in that methods described includes：
Determine whether intelligent vehicle occurs car slipping；
When it is determined that the intelligent vehicle occurs car slipping, whether the distance between intelligent vehicle described in real-time detection and front vehicle are less than
Marginal value；
When the distance is less than the marginal value, stop the intelligent vehicle.
2. method according to claim 1, it is characterised in that whether the determination intelligent vehicle occurs car slipping includes：
As object of reference, an object using the intelligent vehicle periphery determines that the intelligent vehicle relative to the distance of the object of reference is
It is no to change；
When the distance is changed, determine that the intelligent vehicle occurs car slipping；
When the distance is not changed in, determine that the intelligent vehicle does not occur car slipping.
3. method according to claim 2, it is characterised in that described when the distance is changed, determines the intelligence
Car occurs car slipping to be included：
When the object of reference is the object in front of the intelligent vehicle, if the intelligent vehicle increases relative to the distance of the object of reference
Plus, it is determined that there is car slipping in the intelligent vehicle；
In the object that the object of reference is the intelligent vehicle rear, if the intelligent vehicle subtracts relative to the distance of the object of reference
It is little, it is determined that the intelligent vehicle occurs car slipping.
4. method according to claim 1, it is characterised in that when it is determined that the intelligent vehicle occurs car slipping, methods described
Also include：
Driver is reminded to note in the form of speech.
5. according to the arbitrary described method of claim 1-4, it is characterised in that the determination intelligent vehicle whether occur car slipping it
Before, methods described also includes：
Real-time detection speed；
When speed is 0, determine whether intelligent vehicle occurs car slipping.
6. a kind of intelligent vehicle, it is characterised in that the intelligent vehicle includes：
Processing meanss, for determining whether intelligent vehicle occurs car slipping；
Detection means, for when the processing meanss determine that the intelligent vehicle occurs car slipping, intelligent vehicle described in real-time detection with
Whether the distance between front vehicle is less than marginal value；
Control device, faces less than described for the distance between the intelligent vehicle and front vehicle is detected in the detection means
During dividing value, stop the intelligent vehicle.
7. intelligent vehicle according to claim 6, it is characterised in that the processing meanss specifically for：
As object of reference, an object using the intelligent vehicle periphery determines that the intelligent vehicle relative to the distance of the object of reference is
It is no to change；
When the distance is changed, determine that the intelligent vehicle occurs car slipping；
When the distance is not changed in, determine that the intelligent vehicle does not occur car slipping.
8. intelligent vehicle according to claim 7, it is characterised in that the processing meanss specifically for：
When the object of reference is the object in front of the intelligent vehicle, if the intelligent vehicle increases relative to the distance of the object of reference
Plus, it is determined that there is car slipping in the intelligent vehicle；
In the object that the object of reference is the intelligent vehicle rear, if the intelligent vehicle subtracts relative to the distance of the object of reference
It is little, it is determined that the intelligent vehicle occurs car slipping.
9. intelligent vehicle according to claim 6, it is characterised in that determine that the intelligent vehicle is slipped in the processing meanss
Che Shi, the control device are additionally operable to：
Controlling loudspeaker sends voice reminder driver and notes.
10. according to the arbitrary described intelligent vehicle of claim 6-9, it is characterised in that the detection means is additionally operable to：Real-time detection
Speed；
The processing meanss specifically for：When it is 0 that the detection means detects speed, determine whether intelligent vehicle slips
Car.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611184653.5A CN106585595A (en) | 2016-12-20 | 2016-12-20 | Automatic driving method used during slipping and intelligent car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611184653.5A CN106585595A (en) | 2016-12-20 | 2016-12-20 | Automatic driving method used during slipping and intelligent car |
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| Publication Number | Publication Date |
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| CN106585595A true CN106585595A (en) | 2017-04-26 |
Family
ID=58600237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611184653.5A Pending CN106585595A (en) | 2016-12-20 | 2016-12-20 | Automatic driving method used during slipping and intelligent car |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110667538A (en) * | 2019-10-21 | 2020-01-10 | 北京汽车集团越野车有限公司 | Anti-sliding method and vehicle |
| CN112776773A (en) * | 2021-02-27 | 2021-05-11 | 重庆长安汽车股份有限公司 | Anti-sliding safety control method and system and automobile |
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| CN106043293A (en) * | 2015-04-07 | 2016-10-26 | 大众汽车有限公司 | Method and device for safe parking of a vehicle |
| CN106080603A (en) * | 2016-08-18 | 2016-11-09 | 北京汽车股份有限公司 | Vehicle and vehicle slip car control method and device |
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| JP2005067426A (en) * | 2003-08-26 | 2005-03-17 | Daihatsu Motor Co Ltd | Collision avoidance device |
| CN202669800U (en) * | 2012-05-29 | 2013-01-16 | 浙江吉利汽车研究院有限公司杭州分公司 | Rear-end collision preventing control device for automobile hill starting |
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Application publication date: 20170426 |