CN106945663B - Anti-collision method for turning vehicle - Google Patents
Anti-collision method for turning vehicle Download PDFInfo
- Publication number
- CN106945663B CN106945663B CN201710238281.8A CN201710238281A CN106945663B CN 106945663 B CN106945663 B CN 106945663B CN 201710238281 A CN201710238281 A CN 201710238281A CN 106945663 B CN106945663 B CN 106945663B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- distance
- turning
- threshold
- equal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000002265 prevention Effects 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- 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
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
Abstract
Embodiments of the present invention provide a method for collision avoidance for a turning vehicle. The anti-collision method for the turning vehicle comprises the following steps: judging whether the vehicle meets the following conditions: the running speed is less than a preset value, the vehicle is in a turning state, and if the running speed is not met, the anti-collision method of the turning vehicle is stopped; detecting the distance between the vehicle and a surrounding object when the vehicle running speed is less than a preset value and in a turning state; determining whether the vehicle is in one of the following states: the vehicle is about to collide with surrounding objects or the vehicle is driven in a narrow area; braking the vehicle to stop the vehicle if the vehicle is about to collide with a surrounding object; if the vehicle is traveling in a narrow area, the traveling speed of the vehicle is limited so that the traveling speed of the vehicle does not exceed a preset speed. According to the turning vehicle collision avoidance method of the embodiment of the invention, the speed of the turning vehicle can be limited in a simple manner to prevent collision.
Description
Technical Field
The embodiment of the invention relates to vehicle technology, in particular to a method for preventing collision of turning vehicles.
Background
How to improve the safety of the curve is a key research point in the technical field of vehicles. Various electronic stability control systems have been developed to cope with a possible sideslip, loss of trajectory, or collision of a turning vehicle. In these schemes, the control system detects wheel speed, wheel direction, vehicle lateral acceleration, vehicle yaw rate, braking force, distance between the vehicle and the obstacle, etc., acquires the traveling state of the vehicle itself and/or the possibility of collision between the vehicle and the obstacle, and then actively controls the chassis and the wheel direction, ensuring the stability of the vehicle and/or preventing the collision of the vehicle with the obstacle. Such systems are generally not versatile, require chassis calibration and adjustment for a particular model of vehicle, are technically complex, and are expensive.
There is room for improvement in the method of turning vehicle collision avoidance.
Disclosure of Invention
The embodiment of the invention provides a method for preventing collision of a turning vehicle.
According to one aspect, an embodiment of the present invention provides a method for collision avoidance for a turning vehicle, including: judging whether the vehicle meets the following conditions: the running speed is less than a preset value, the vehicle is in a turning state, and if the running speed is not met, the anti-collision method of the turning vehicle is stopped; detecting the distance between the vehicle and the surrounding objects; determining whether the vehicle is in one of the following states: the vehicle is about to collide with surrounding objects or the vehicle is driven in a narrow area; braking the vehicle to stop the vehicle if the vehicle is about to collide with a surrounding object; if the vehicle is traveling in a narrow area, the traveling speed of the vehicle is limited.
In the embodiment of the invention, it is determined that the vehicle is in a turning state under the condition that the wheels are turned.
In the embodiment of the invention, it is determined that the vehicle is about to collide with the surrounding object when the distance between the vehicle and the surrounding object is equal to or less than the first threshold value.
In an embodiment of the present invention, it is determined that the vehicle is traveling in a narrow area when the distance between the vehicle and the surrounding object is greater than a first threshold value and equal to or less than a second threshold value, which is greater than the first threshold value.
In an embodiment of the present invention, detecting the distance of the vehicle from the surrounding object includes: a first distance between the vehicle and a right front object, a second distance between the vehicle and a left front object, a third distance between the vehicle and a left rear object, and a fourth distance between the vehicle and a right rear object are detected.
In the embodiment of the present invention, it is determined that the vehicle is about to collide with a surrounding object if any of the following conditions is satisfied: the sum of the first distance and the third distance is less than or equal to a first threshold, the sum of the second distance and the fourth distance is less than or equal to a first threshold, the first distance is less than or equal to a third threshold, the second distance is less than or equal to a third threshold, the third distance is less than or equal to a third threshold, or the fourth distance is less than or equal to a third threshold. It is determined that the vehicle is traveling in a narrow area if the following conditions are satisfied: the sum of the first distance and the third distance is larger than a first threshold and smaller than or equal to a second threshold, the sum of the second distance and the fourth distance is larger than the first threshold and smaller than or equal to the second threshold, the first distance is larger than the third threshold, the second distance is larger than the third threshold, the third distance is larger than the third threshold, and the fourth distance is larger than the third threshold.
In the embodiment of the invention, under the condition that the wheels are not steered, if the first distance is not equal to the fourth distance or the second distance is not equal to the third distance, it is judged that the vehicle is in a turning state.
According to the turning vehicle collision avoidance method of the embodiment of the invention, the speed of the turning vehicle can be limited in a simple manner to prevent collision.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, it being understood that the drawings described below relate only to some embodiments of the present invention and are not limiting thereof, wherein:
FIG. 1 is a schematic view of a vehicle turning driving state;
FIG. 2 is a schematic flow chart of a method for collision avoidance for a turning vehicle provided by an embodiment of the present invention;
fig. 3 is a schematic block diagram of an apparatus for implementing the method for collision avoidance for a turning vehicle provided by the embodiment of the present invention.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, also belong to the scope of protection of the invention.
Fig. 1 is a schematic view of a vehicle turning running state. As shown in fig. 1, if the driver operates improperly (e.g., the turning angle is insufficient and the vehicle speed is too fast) during the turning of the vehicle, a situation may occur in which the vehicle cannot avoid the obstacle in time (e.g., as shown by a broken line in fig. 1).
Fig. 2 is a schematic flow chart of a method for preventing collision of a turning vehicle according to an embodiment of the present invention. As shown in fig. 2, the turning vehicle collision prevention method includes the following steps: step S101, judging whether the vehicle satisfies: the running speed is less than a preset value and is in a turning state, if the running speed is not met, the step S102 is carried out, the turning vehicle anti-collision method is stopped, if the running speed is not met, the step S103 is carried out, and the distance between the vehicle and the surrounding objects is detected; step S104, judging whether the vehicle is in one of the following states: the vehicle is about to collide with surrounding objects or the vehicle is driven in a narrow area; if the vehicle is about to collide with a surrounding object, proceeding to step S105, braking the vehicle to stop the vehicle; if the vehicle is traveling in a narrow area, the process proceeds to step S106, where the traveling speed of the vehicle is limited.
In step S101, the starting conditions for the turning vehicle collision avoidance method are restricted. When the vehicle speed is greater than the predetermined value, the turning vehicle collision avoidance method is stopped to prevent the vehicle from being suddenly braked when passing through a curve quickly or losing the power of acceleration so that the driver cannot control the running track of the vehicle. As an example, the predetermined value may be 20 km/h.
Further, if the driver does not always operate the steering wheel to steer the wheels W (e.g., front wheels) of the vehicle, the turning vehicle collision avoidance method may be stopped, assuming that there is no need for turning. The state of the wheel may be directly obtained by a sensor on the wheel, or may be directly determined that the vehicle is in a turning state when the steering wheel is turned.
In step S103, the distance between the vehicle and the surrounding object may be detected using any sensor. For example, one of the more accurate solutions is to use a sensor such as a laser radar that can perform a wide-range scanning, perform a full-scale scanning on the vehicle peripheral area, and acquire the distances between the vehicle and the surrounding objects in all directions, which may obtain more accurate data. Another more easily implemented solution is shown in fig. 1, detecting a first distance D1 of the vehicle from the right front object, a second distance D2 of the vehicle from the left front object, a third distance D3 of the vehicle from the left rear object, and a fourth distance D4 of the vehicle from the right rear object. Thus, the state of the vehicle can be judged by obtaining less data.
In step S104, it is determined whether the vehicle is in one of the following states, based on the information of the distance between the vehicle and the surrounding object: the vehicle is about to collide with a surrounding object, or the vehicle travels in a narrow area.
According to the observation of the driving condition of the curve, when the space between the vehicle and the surrounding object is very small, it is difficult to avoid the obstacle while the vehicle is continuously running. The driver has to stop the vehicle and adjust the vehicle travel path many times to prevent a collision. In response to this, a small first threshold value may be set, and when the distance between the vehicle and the surrounding object is equal to or less than the first threshold value, it is determined that the vehicle is about to collide with the surrounding object.
In another case, where there is more space between the vehicle and the surrounding objects, the driver can control the vehicle to continue traveling at a lower speed, through a curve. In response to this, a second threshold value larger than the first threshold value may be set, and when the distance between the vehicle and the surrounding object is greater than the first threshold value and equal to or less than the second threshold value, it may be determined that the vehicle is traveling in the narrow area.
As one example, the distance of the vehicle from the surrounding object may use the minimum value among a plurality of distances, for example, the minimum value among the first distance D1, the second distance D2, the third distance D3, and the fourth distance D4. The first threshold value and the second threshold value may be specifically set according to experiments.
As another more precise example, the sum of multiple distances may also be used simultaneously to better represent the size of the space around the vehicle. For example, it is determined that the vehicle is about to collide with a surrounding object if any of the following conditions is satisfied: the sum of the first distance D1 and the third distance D3 is equal to or less than a first threshold value, the sum of the second distance D2 and the fourth distance D4 is equal to or less than a first threshold value, the first distance D1 is equal to or less than a third threshold value, the second distance D2 is equal to or less than a third threshold value, the third distance D3 is equal to or less than a third threshold value, or the fourth distance D4 is equal to or less than a third threshold value. As an example, the first threshold may be 2cm and the third threshold may be 0.5 cm. That is, when the distance between the vehicle and the surrounding object is 0.5cm or less at any point or the sum of the distances on both sides of the vehicle is 2cm or less, it is considered that the space between the vehicle and the surrounding object is very small, and if the vehicle is about to collide with the surrounding object while continuously traveling, it is necessary to proceed to step S105 to brake the vehicle.
Further, it may be determined that the vehicle is traveling in a narrow area if the following conditions are satisfied: the sum of the first distance D1 and the third distance D3 is greater than a first threshold value and less than or equal to a second threshold value, the sum of the second distance D2 and the fourth distance D4 is greater than the first threshold value and less than or equal to the second threshold value, the first distance D1 is greater than the third threshold value, the second distance D2 is greater than the third threshold value, the third distance D3 is greater than the third threshold value, and the fourth distance D4 is greater than the third threshold value. By way of example, and not limitation, the second threshold may be 40 cm. That is, the vehicle is more than 0.5cm away from the surrounding object at any one place, and the sum of the distances on both sides of the vehicle is more than 2cm, it is considered to be basically safe, but since the sum of the distances on both sides of the vehicle is 40cm or less, if the vehicle speed is too fast, a collision may still occur. Therefore, step S106 may be entered to limit the speed of the vehicle.
In step S105, in order to ensure safety, the vehicle may be braked to stop the vehicle. When the vehicle is braked and stopped, the driver may be prompted in any man-machine interaction manner (e.g., sound, light, or the like). And, the brake can be released after the driver adjusts the driving route, and the vehicle can slowly drive at the starting speed until the driver drives the vehicle to leave the area where the collision is possible.
In step S106, the vehicle may be speed limited, for example, a throttle may be controlled to limit fueling of an engine, or active braking may be performed to limit the vehicle. As an example, the speed of the vehicle may be limited to 10km/h, or 5km/h, etc. When the speed of the vehicle is limited, the driver can be prompted in any man-machine interaction mode (for example, sound or light).
It should be understood that in fig. 2, the anti-collision method for the turning vehicle is illustrated in the form of a sequential block diagram, but this is not a limitation on the order of the respective steps.
For example, step S103 may be performed first, the distance between the vehicle and the peripheral object is acquired, and then step S101 is performed. In this case, as the assisting means, it is also possible to determine whether or not the vehicle is in a turning state based on information on the distance between the vehicle and the peripheral object. Specifically, as shown in FIG. 1, if the fourth distance D4 is greater than the first distance D1, it may indicate that the vehicle needs to turn left to avoid objects on the right during forward travel. If the second distance D2 is greater than the third distance D3, it may indicate that the vehicle needs to turn to the right to avoid a left object during rollback. In the embodiment of the present invention, as an aid to detecting the state of the steering wheel, there may be further provided: if the first distance D1 is not equal to the fourth distance D4 or the second distance D2 is not equal to the third distance D3, it is determined that the vehicle has a need to turn.
According to the turning vehicle collision avoidance method of the embodiment of the invention, the speed of the turning vehicle can be limited in a simple manner, and the driver is given more time to perform turning operation to prevent collision. When necessary, the vehicle can be stopped by active braking, so that the possibility of human operation errors is reduced.
Fig. 3 is a schematic block diagram of an apparatus for implementing the method for collision avoidance for a turning vehicle provided by the embodiment of the present invention. As shown in fig. 3, the turning vehicle collision prevention device 10 may include: a distance sensor 11, a processor unit 12, a wheel direction sensor 13, a vehicle speed sensor 14.
The distance sensor 11 is configured to detect a distance of the vehicle from a surrounding object. As an example, the distance sensor 11 may be a millimeter wave radar. The distance sensor 11 of the turning vehicle collision avoidance device 10 may be provided independently on a vehicle that has been shipped from a factory, or may be provided using an existing device on the vehicle, such as a back radar or a detection radar of an adaptive cruise system. The distance sensor 11 may include: the vehicle comprises a first distance sensor positioned in the right front of the vehicle, a second distance sensor positioned in the left front of the vehicle, a third distance sensor positioned in the left rear of the vehicle, and a fourth distance sensor positioned in the right rear of the vehicle. In this way, the situation around the vehicle can be acquired with fewer sensors.
The processor unit 12 is configured to: judging whether the vehicle meets the following conditions: and the running speed is less than a preset value and is in a turning state, and if the running speed is not met, the turning vehicle anti-collision method is stopped. The processor unit 12 is further configured to determine whether the vehicle is in one of the following states: the vehicle is about to collide with surrounding objects or the vehicle is driven in a narrow area; if the vehicle is about to collide with a surrounding object; sending an instruction to the vehicle controller 20 to brake the vehicle to stop the vehicle if the vehicle is about to collide with a surrounding object; if the vehicle is traveling in a narrow area, an instruction to limit the traveling speed of the vehicle is sent to the vehicle controller 20.
As an example, the processor unit 12 of the turning vehicle collision avoidance device 10 may be a separately provided hardware circuit including a microcontroller or the like, in communication with the vehicle controller 20 to transmit instructions for speed limiting or braking. The processor unit 12 may also be a hardware or software module in the vehicle controller 20 that is already provided to improve the degree of integration of the vehicle electronic control system.
The wheel direction sensor 13 is configured to provide wheel direction information to the processor unit 12. The processor unit 12 is configured to determine that the vehicle has a need to turn when the wheels are turned. The wheel direction sensor 13 may be any sensor capable of detecting whether or not the wheels are steered, and may be provided at the wheel position or the steering wheel position. The wheel direction sensor 13 may be provided separately or may be multiplexed with any existing sensor.
The vehicle speed sensor 14 is used to detect the traveling speed of the vehicle, and if the traveling speed of the vehicle is greater than a predetermined value, the turning vehicle collision prevention method is stopped. This prevents the vehicle from being suddenly braked when passing through a curve quickly, or from losing the power of acceleration so that the driver cannot control the running track of the vehicle.
As an example, the processor unit 12 is part of the vehicle controller 20, as shown in fig. 3, and the functions of the processor unit 12 may be implemented by software modules running in the vehicle controller 20. The distance sensor 11, the wheel direction sensor 13, and the vehicle speed sensor 14 are sensors already provided on the vehicle, and communicate with the vehicle controller 20 through the CAN network.
According to an embodiment of the present invention, the turning vehicle collision avoidance method may be implemented in a simple manner on a factory vehicle, and may be integrated in an existing vehicle control system as shown in fig. 3. The anti-collision method for the turning vehicle controls the vehicle through speed limit, and meanwhile, the anti-collision method can warn by using sound or light and the like, so that a driver has time to judge and correct the direction of the wheels without complicated control of the wheels, and therefore chassis calibration and adjustment are not needed, and the production and manufacturing cost and time are reduced. The method has the advantages of convenient parameter change, high universality, applicability to different vehicle types and low cost.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (8)
1. A method for collision avoidance for a turning vehicle, comprising:
judging whether the vehicle meets the following conditions: the running speed is less than a preset value, the vehicle is in a turning state, and if the running speed is not met, the anti-collision method of the turning vehicle is stopped;
detecting the distance between the vehicle and a surrounding object when the vehicle running speed is less than a preset value and in a turning state;
determining whether the vehicle is in one of the following states: the vehicle is about to collide with surrounding objects or the vehicle is driven in a narrow area;
braking the vehicle to stop the vehicle if the vehicle is about to collide with a surrounding object;
if the vehicle is traveling in a narrow area, the traveling speed of the vehicle is limited so that the traveling speed of the vehicle does not exceed a preset speed.
2. The turning vehicle collision avoidance method according to claim 1, wherein it is determined that the vehicle is in a turning state under the condition that the wheels are turned.
3. The turning vehicle collision avoidance method according to claim 1, characterized in that it is determined that the vehicle is about to collide with the surrounding object when the distance between the vehicle and the surrounding object is equal to or less than a first threshold value.
4. A turning vehicle collision avoidance method according to claim 3, characterized in that it is determined that the vehicle is traveling in a narrow area when the distance of the vehicle from the surrounding object is greater than a first threshold value and equal to or less than a second threshold value, the second threshold value being greater than the first threshold value.
5. The turning vehicle collision avoidance method according to claim 4, wherein detecting a distance of the vehicle from a surrounding object comprises:
a first distance between the vehicle and a right front object, a second distance between the vehicle and a left front object, a third distance between the vehicle and a left rear object, and a fourth distance between the vehicle and a right rear object are detected.
6. A turning vehicle collision prevention method according to claim 5,
it is determined that the vehicle is about to collide with a surrounding object if any of the following conditions is satisfied: the sum of the first distance and the third distance is less than or equal to a first threshold, the sum of the second distance and the fourth distance is less than or equal to the first threshold, the first distance is less than or equal to a third threshold, the second distance is less than or equal to a third threshold, the third distance is less than or equal to a third threshold, or the fourth distance is less than or equal to a third threshold;
it is determined that the vehicle is traveling in a narrow area if the following conditions are satisfied: the sum of the first distance and the third distance is larger than a first threshold and smaller than or equal to a second threshold, the sum of the second distance and the fourth distance is larger than the first threshold and smaller than or equal to the second threshold, the first distance is larger than the third threshold, the second distance is larger than the third threshold, the third distance is larger than the third threshold, and the fourth distance is larger than the third threshold.
7. A turning vehicle collision avoidance method according to claim 5, wherein in a condition that the wheels are not turning, if the first distance is not equal to the fourth distance, or the second distance is not equal to the third distance, it is determined that the vehicle is in a turning state.
8. A turning vehicle collision prevention method according to claim 1, wherein the preset speed of the speed limit is 5km/h or 10 km/h.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710238281.8A CN106945663B (en) | 2017-04-13 | 2017-04-13 | Anti-collision method for turning vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710238281.8A CN106945663B (en) | 2017-04-13 | 2017-04-13 | Anti-collision method for turning vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106945663A CN106945663A (en) | 2017-07-14 |
| CN106945663B true CN106945663B (en) | 2020-09-25 |
Family
ID=59475835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710238281.8A Active CN106945663B (en) | 2017-04-13 | 2017-04-13 | Anti-collision method for turning vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106945663B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109747531A (en) * | 2017-11-08 | 2019-05-14 | 郑州谦贤科技有限公司 | A kind of vehicle turning safe early warning method and system |
| CN108437794B (en) * | 2018-03-20 | 2021-07-06 | 重庆电讯职业学院 | Automobile speed limiting system |
| US10909866B2 (en) * | 2018-07-20 | 2021-02-02 | Cybernet Systems Corp. | Autonomous transportation system and methods |
| KR102658055B1 (en) * | 2019-05-14 | 2024-04-17 | 현대모비스 주식회사 | Adaptive aeb system considering steerable path and the method thereof |
| US11878761B2 (en) | 2019-12-06 | 2024-01-23 | Gekot, Inc. | Collision alert systems and methods for micromobility vehicles |
| CN115683140B (en) * | 2022-10-10 | 2024-10-11 | 重庆长安汽车股份有限公司 | Method, system, equipment and medium for planning over-bending vehicle speed of passenger parking tracking |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0496603A (en) * | 1990-08-08 | 1992-03-30 | Aisin Aw Co Ltd | Anti-collision system for motor car |
| JPH08253160A (en) * | 1995-03-15 | 1996-10-01 | Koyo Seiko Co Ltd | Steering device of vehicle |
| JP4169065B2 (en) * | 2006-02-13 | 2008-10-22 | 株式会社デンソー | Vehicle control device |
| CN102167040B (en) * | 2011-03-29 | 2014-01-22 | 奇瑞汽车股份有限公司 | Vehicle running speed control method and device thereof |
| DE102012215093A1 (en) * | 2012-08-24 | 2014-02-27 | Robert Bosch Gmbh | Driver assistance system and method for operating the driver assistance system |
| CN102963300B (en) * | 2012-12-07 | 2015-01-28 | 长安大学 | Prompting device for preventing vehicle from colliding with non-motor vehicles when turning corners and prompting method thereof |
| DE102013213216A1 (en) * | 2013-07-05 | 2015-01-08 | Robert Bosch Gmbh | Method and apparatus for assisting a driver of a vehicle in a bottleneck |
| JP5929870B2 (en) * | 2013-10-17 | 2016-06-08 | 株式会社デンソー | Target detection device |
| KR20150059489A (en) * | 2013-11-22 | 2015-06-01 | 현대자동차주식회사 | Method, apparatus and system for detecting narrow road |
| JP6183298B2 (en) * | 2014-06-10 | 2017-08-23 | 株式会社デンソー | Collision avoidance device |
| CN104554060B (en) * | 2014-07-30 | 2017-09-22 | 浙江吉利控股集团有限公司 | It is a kind of to increase the method and system of the excessively curved security of vehicle |
| US9463804B2 (en) * | 2014-11-11 | 2016-10-11 | Ford Global Tehnologies, LLC | Vehicle cornering modes |
| KR102036050B1 (en) * | 2014-12-30 | 2019-10-24 | 주식회사 만도 | Apparatuses and Methods for line changing |
| CN104960466B (en) * | 2015-07-22 | 2017-11-17 | 福州大学 | A kind of automobile turning safety assisting system |
| CN105835870B (en) * | 2016-03-28 | 2019-03-08 | 乐视生态汽车（浙江）有限公司 | Vehicle travel control method, device and computer equipment |
| CN105882661B (en) * | 2016-04-08 | 2018-09-25 | 重庆大学 | The method of operation of motor vehicle driving curves auxiliary system |
| CN106004873B (en) * | 2016-05-26 | 2018-04-24 | 江苏大学 | A kind of automobile cornering collision avoidance based on V2X car networkings and constancy system control method for coordinating |
-
2017
- 2017-04-13 CN CN201710238281.8A patent/CN106945663B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106945663A (en) | 2017-07-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106945663B (en) | Anti-collision method for turning vehicle | |
| US10429848B2 (en) | Automatic driving system | |
| CN109715453B (en) | Method and apparatus for controlling motion of vehicle and vehicle motion control system | |
| KR102529915B1 (en) | Apparatus and method for controlling drive of vehicle | |
| US9269270B2 (en) | Device and method for supporting a driver of a motor vehicle during a driving maneuver | |
| CN110371116B (en) | Device and method for controlling driving of vehicle | |
| KR20190118943A (en) | Apparatus and method for controlling drive of vehicle | |
| US20090143951A1 (en) | Forward Collision Avoidance Assistance System | |
| CN111216792B (en) | Automatic driving vehicle state monitoring system and method and automobile | |
| KR101478068B1 (en) | Apparatus for preventing collision in vehicle and method thereof | |
| JPWO2017077807A1 (en) | Vehicle travel control device | |
| CN111845770B (en) | System for identifying a trailer of a vehicle and method thereof | |
| KR102287574B1 (en) | Method and device for operating a vehicle | |
| JP2020044938A (en) | Control system and control method for vehicle | |
| JP2019206258A (en) | Vehicle control system | |
| EP4098501A1 (en) | Lateral movement system for collision avoidance | |
| EP3838672B1 (en) | Autonomous vehicle and method for controlling it | |
| US20180284790A1 (en) | Automatic driving system | |
| JP2017073059A (en) | Lane change support device | |
| JP2020082897A (en) | Vehicle control system | |
| CN111369782B (en) | Control method and control device for motorcade running, readable storage medium and vehicle | |
| KR20160115247A (en) | Apparatus and Method for Controlling Collision Avoidance | |
| JP5664462B2 (en) | Roadside obstacle detection device for emergency vehicle evacuation device | |
| JP2011195082A (en) | Vehicle controller | |
| US11325593B2 (en) | Risk estimation apparatus and automated driving apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 200082 538 Dalian Road, Yangpu District, Shanghai Applicant after: Mainland Investment (China) Co., Ltd. Address before: 200082 538 Dalian Road, Yangpu District, Shanghai Applicant before: Continental Automotive Asia Pacific (Beijing) Co., Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |