CN107161147A - A kind of vehicle collision avoidance cruise control system and its control method - Google Patents

A kind of vehicle collision avoidance cruise control system and its control method Download PDF

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Publication number
CN107161147A
CN107161147A CN201710306636.2A CN201710306636A CN107161147A CN 107161147 A CN107161147 A CN 107161147A CN 201710306636 A CN201710306636 A CN 201710306636A CN 107161147 A CN107161147 A CN 107161147A
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CN
China
Prior art keywords
car
target pedestrian
pedestrian
target
traveling
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CN201710306636.2A
Other languages
Chinese (zh)
Inventor
徐现昭
徐伟
张芬
周培义
黄亮
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广州汽车集团股份有限公司
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Application filed by 广州汽车集团股份有限公司 filed Critical 广州汽车集团股份有限公司
Priority to CN201710306636.2A priority Critical patent/CN107161147A/en
Publication of CN107161147A publication Critical patent/CN107161147A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/166Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The present invention provides a kind of vehicle collision avoidance cruise control system and its control method, wherein, control method includes:Obtain target pedestrian's movement state information;According to the target pedestrian movement state information of acquisition and this car real time running state, the traveling type of target pedestrian is judged;According to traveling Type Control this car driving mode of target pedestrian.The present invention is identified by the target pedestrian to each runway in this car periphery, judges the traveling type of target pedestrian, and controls this car to brake or turning avoidance pedestrian accordingly, it is to avoid with pedestrian collision, improve the security of cruise traveling;When there is conflict simultaneously for a variety of driving modes, according to safe class height, control is performed according to the higher driving mode of safe class, it is ensured that the safety of pedestrian and vehicle;Also using V2X technologies, rearward vehicle or traffic control system send congestion and with car signal to the present invention, are directed traffic for rear car early warning or traffic control system coordination.

Description

A kind of vehicle collision avoidance cruise control system and its control method

Technical field

The present invention relates to technical field of vehicle safety, more particularly to a kind of vehicle collision avoidance cruise control system and its control Method.

Background technology

With trailer-mounted radar, the fast development of the first-class technology of shooting, increasing manufacturer is by adaptive learning algorithms system System is applied in this family vehicle.Wherein, for vehicle automatic emergency brake system and the automatic emergency brake system for pedestrian System has been formulated into 2018 editions Chinese new car assessment routine C-NCAP, promotes the progress and popularization and application of technology.

The collision that current main research and application are concentrated on for front truck is avoided and cruise control technology.For objects ahead Type is pedestrian, and main technology is to apply conflict alert and Braking mode.But operating mode in pedestrian's movement on roads, for Pedestrian's low-speed forward, the turning avoidance work study for pedestrian's type and application are less, lack for pedestrian target type Classification control, controls collision free by course changing control, low cruise and ensures the technical scheme of vehicle and pedestrains safety.

The content of the invention

The technical problems to be solved by the invention are that there is provided a kind of vehicle collision avoidance cruise control system and its controlling party Method, by recognizing pedestrian's motion state and judging traveling type, and then controls vehicle driving mode, improves driving safety.

In order to solve the above-mentioned technical problem, the present invention provides a kind of pedestrian anti-collision control system control method, including:

Obtain target pedestrian's movement state information;

According to the target pedestrian movement state information of acquisition and this car real time running state, the traveling class of target pedestrian is judged Type;

According to traveling Type Control this car driving mode of target pedestrian.

Wherein, the target pedestrian movement state information at least includes target pedestrian present position and the direction of motion, institute The target pedestrian movement state information and this car real time running state according to acquisition are stated, the traveling type of target pedestrian is judged, Specifically according to the angle of target pedestrian present position, the target pedestrian direction of motion and this car travel direction, target pedestrian is judged Traveling type, the traveling type includes:Jaywalk, advanced along road, inversely being advanced and away from this car,

Wherein, described jaywalk refers to that target pedestrian is located at its direction of motion when on the left of this car and travelled with this car at angular separation In(0,180), or target pedestrian when being located on the right side of this car its direction of motion and this car travel angular separation and be in(180 , 360);

Described advanced along road refers to that the target pedestrian direction of motion is 0 with this car traveling angular separation;

The reverse traveling refers to that the target pedestrian direction of motion is 180 with this car traveling angular separation;

It is described to refer to that target pedestrian its direction of motion at this car left row track is travelled at angular separation with this car away from this car In(180,360), or target pedestrian runway or its direction of motion and this garage during the pavement of right side on the right side of this car Angular separation is sailed to be in(0,180).

Wherein, traveling Type Control this car driving mode according to target pedestrian, is specifically included:

When target pedestrian is located at this car left row track, either right side runway or during the pavement of right side, if target pedestrian Traveling type advanced to be advanced along road, inversely, away from any kind in this car, then control this car to keep adapting to cruising condition.

Wherein, traveling Type Control this car driving mode according to target pedestrian, is specifically included:

When the traveling type of target pedestrian is jaywalks, determine whether whether target pedestrian has risk of collision with this car, If any the brake hard of this car is then controlled, as controlled this car turning avoidance without and if going out warning to target line human hair.

Wherein, traveling Type Control this car driving mode according to target pedestrian, is specifically included:

When target pedestrian is located at this vehicle lane, if the traveling type of target pedestrian controls this car low to be advanced along road Speed cruise or turning avoidance, if the traveling type of target pedestrian is reverse traveling, controls the brake hard of this car or turn To avoidance.

Wherein, traveling Type Control this car driving mode according to target pedestrian, is specifically included:

When target pedestrian is located at this vehicle lane, if the traveling type of target pedestrian is away from this car, Ben Chebao is controlled Hold adaptation cruising condition.

Wherein, the control method also includes obtaining this car periphery traffic related information, and is tied in this car turning avoidance Close this car periphery traffic related information to be controlled, to avoid colliding with other traffic participants.

Wherein, when multiple target pedestrian movement state informations according to acquisition, the traveling type of each target pedestrian is judged When, then this car driving mode is controlled according to the safe class that pre-sets, this car driving mode by safe class from high to low according to It is secondary to be:Brake hard, turning avoidance, low cruise, adaptation cruise.

Wherein, the control method also includes:

This front side traffic lights information is obtained, and when traffic lights are changed into amber light or red light from green light, controls this car Brake to be parked in before vehicle stop line;Or/and

This car periphery traffic related information is obtained, and this car periphery traffic is sent to this car front vehicle by V2X technologies Information, for front vehicle early warning;Or this car periphery traffic related information to traffic control system is sent by V2X technologies, Command or dispatch for traffic control system.

The embodiment of the present invention also provides a kind of vehicle collision avoidance cruise control system, including:

Pedestrian's state sensor, for obtaining target pedestrian's movement state information;

Master controller, for the target pedestrian movement state information according to acquisition and this car real time running state, judges target The traveling type of pedestrian, and according to traveling Type Control this car driving mode of target pedestrian.

Wherein, pedestrian's state sensor is described specifically for obtaining target pedestrian present position and the direction of motion Master controller is sentenced specifically for the angle according to target pedestrian present position, the target pedestrian direction of motion and this car travel direction The traveling type of disconnected target pedestrian, the traveling type includes:Jaywalk, advanced along road, inversely being advanced and away from this car,

Wherein, described jaywalk refers to that target pedestrian is located at its direction of motion when on the left of this car and travelled with this car at angular separation In(0,180), or target pedestrian when being located on the right side of this car its direction of motion and this car travel angular separation and be in(180 , 360);

Described advanced along road refers to that the target pedestrian direction of motion is 0 with this car traveling angular separation;

The reverse traveling refers to that the target pedestrian direction of motion is 180 with this car traveling angular separation;

It is described to refer to that target pedestrian its direction of motion at this car left row track is travelled at angular separation with this car away from this car In(180,360), or target pedestrian runway or its direction of motion and this garage during the pavement of right side on the right side of this car Angular separation is sailed to be in(0,180).

Wherein, the control system also includes multiple radar system and multi-camera system, is used to obtain around this car Vehicle, pedestrian, traffic lights, road traffic beacon information, and fusion treatment, many radar systems are carried out to the information of acquisition The millimeter wave angle radar of system corner including the preposition radar installed in this front side and after this Chinese herbaceous peony, the multi-cam System includes the front camera installed in windshield, and the angle camera installed in rearview mirror both sides and this tailstock portion.

Wherein, pedestrian's state sensor is integrated in multiple radar system or multi-camera system.

Wherein, the master controller is additionally operable to this front side traffic lights information according to acquisition, in traffic lights When being changed into amber light or red light from green light, the braking of this car is controlled to be parked in before vehicle stop line.

Wherein, the control system also includes:

Vehicle electric constancy system, the brake command for performing this car;

Steering wheel angle sensor, the steering angle signal for providing this car, and electric power steering system is made by the signal The judgement of system steering angle;

Engine controller, the order for receiving the master controller, is controlled to engine air throttle and moment of torsion, control The acceleration of this car and engine braking slow down;

Gearbox control, driving model and gear information for providing driver control this car to add and subtract gear;

Electric boosting steering system, for providing torque parameter, and receives the order of master controller, performs the control of wheel steering System.

Wherein, the control system also includes:

Radio receiving transmitting module, for this car periphery traffic related information to be sent into this car front vehicle or friendship by V2X technologies Logical management system.

Wherein, the master controller is additionally operable to control this car driving mode, this garage according to the safe class pre-set Mode is sailed to be followed successively by from high to low by safe class:Brake hard, turning avoidance, low cruise, adaptation cruise.

The beneficial effect of the embodiment of the present invention is:

By obtaining target pedestrian's movement state information, the target pedestrian of each runway in this car periphery is identified, judged The traveling type of target pedestrian, and control this car to brake or turning avoidance pedestrian accordingly, it is to avoid with pedestrian collision, raising is patrolled Navigate by water the security sailed;Or control this car low speed to follow pedestrian, with the operation such as stopping, in the case where not influenceing security, carry High driving comfort;

When there is conflict simultaneously for a variety of driving modes, according to safe class height, according to the higher traveling side of safe class Formula performs control, it is ensured that the safety of pedestrian and vehicle;

Also using V2X technologies, rearward vehicle or traffic control system send congestion and with car signal to the present invention, clear for rear car Upcoming traffic information is solved, facilitates rear car to control spacing and move ahead, and is directed traffic for traffic control system coordination, and this can be believed Number be applied to vehicle platoon travel control.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with Other accompanying drawings are obtained according to these accompanying drawings.

Fig. 1 is a kind of principle schematic of vehicle collision avoidance cruise control system of the embodiment of the present invention one.

Fig. 2 is the logical relation schematic diagram that signal sends and receives in the embodiment of the present invention.

Fig. 3 is a kind of schematic flow sheet of vehicle collision avoidance cruise control method of the embodiment of the present invention two.

Fig. 4 is a kind of principle schematic of vehicle collision avoidance cruise control method of the embodiment of the present invention two.

Fig. 5 is a kind of idiographic flow schematic diagram of vehicle collision avoidance cruise control method of the embodiment of the present invention two.

Embodiment

The explanation of following embodiment is refer to the attached drawing, can be to the specific embodiment implemented to the example present invention.

Referring to shown in Fig. 1, Fig. 2, a kind of vehicle collision avoidance cruise control system of the embodiment of the present invention one is mainly wrapped Include following part:Vehicle electric constancy system ESP, steering wheel angle sensor SAS, engine control system EMS, gearbox control system TCU, electric boosting steering system EPS, system switching, car body controller BCM, system master system Device, radio receiving transmitting module, multiple radar system(Millimeter wave angle on corner before and after the preposition radar and vehicle of vehicle front Radar), multi-camera system(Installed in windshield and rearview mirror both sides and automobile tail), wherein:

Vehicle electric constancy system ESP:It is mainly used in performing the brake command of vehicle;

Steering wheel angle sensor SAS:It is mainly used in providing the steering angle signal of vehicle, and makes electric boosted by the signal The judgement of steering EPS steering angles;

Engine controller EMS:The order of EMS reception system master controllers, is controlled to engine air throttle and moment of torsion etc., The acceleration and engine braking for controlling vehicle are slowed down;

Gearbox control TCU:Driving model and gear information for providing driver, carry out vehicle plus-minus gear control;

Electric boosting steering system EPS:For providing the parameters such as moment of torsion, and the order of reception system master controller, direction is performed The control that disk is turned to;

System switching:For opening and closing vehicle collision avoidance cruise control system;

Car body controller BCM:For system switching signal to be sent to CAN;

Radio receiving transmitting module:For this car periphery traffic related information to be sent into this car front vehicle or traffic control system;

System master controller:For receiving signal, carry out logic judgment, send corresponding control instruction to ESP controls braking, EPS controls are turned to and corresponding low cruise, follow, with the control such as stopping;

Many radars and multi-camera system are used for the environmental information for obtaining vehicle periphery, and the information of acquisition is carried out at fusion Reason, improve data utilization rate, both data fusions vehicle, pedestrian, traffic lights and road traffic can be indicated into Row identification, and lane line and periphery object can be recognized, target pedestrian's movement state information is sent to system master controller.

Referring again to shown in Fig. 3, the embodiment of the present invention two provides a kind of vehicle collision avoidance cruise control method, including:

Obtain target pedestrian's movement state information;

According to the target pedestrian movement state information of acquisition and this car real time running state, the traveling class of target pedestrian is judged Type;

According to traveling Type Control this car driving mode of target pedestrian.

It is specifically described below in conjunction with Fig. 4, Fig. 5.

It is specifically to obtain target pedestrian present position and the direction of motion to obtain target pedestrian's movement state information.It is obtained Mode is acquired by pedestrian's state sensor as shown in Figure 2, and pedestrian's state sensor can be integrated in many radars In system or multi-camera system, for example, it is arranged in preposition radar or front camera.Certainly, pedestrian's state sensor is also It can be arranged among the means of transportation of both sides of the road.

Initial pedestrian position is divided into three types:1., 2. and 3. left, middle and right, correspond to respectively as shown in Figure 4.Pedestrian's shape State sensor can recognize the pedestrian of pavement or right side runway on the right side of this car, the pedestrian of this vehicle lane and Ben Che left sides The pedestrian of driving, it can be according to this car steering wheel angle, yaw velocity(Yaw rate)And the information such as lane line, for mesh The motion state of mark pedestrian is judged, i.e., according to target pedestrian present position, the target pedestrian direction of motion and this car traveling side To angle α, judge the traveling type of target pedestrian.In the present embodiment, traveling type includes:Jaywalk, advanced along road, it is inverse To traveling and away from this car.It should be noted that the angle α of the target pedestrian direction of motion and this car travel direction, is with this car Travel direction is origin coordinates axle, and turn clockwise the angle to be formed.For example it is located at the pedestrian in this car left row track shown in Fig. 4 3., its direction of motion is oblique upper to the right, is in the angle α of this car travel direction(0,180), i.e., 0<α<180˚;If Its direction of motion is oblique upper to the left, then the angle α with this car travel direction is in(180,360), i.e., 180<α<360˚.

Specifically, in the present embodiment, jaywalk and refer to that target pedestrian is located at its direction of motion and this car when on the left of this car Travel direction angle is in(0,180), or target pedestrian is located at its direction of motion and this car traveling side when on the right side of this car It is in angle(180,360);

Advanced along road and refer to that the target pedestrian direction of motion is 0 with this car traveling angular separation;

Reverse advance refers to that the target pedestrian direction of motion is 180 with this car traveling angular separation;

Refer to that target pedestrian its direction of motion at this car left row track is in this car traveling angular separation away from this car (180,360), or target pedestrian runway or its direction of motion is travelled with this car during the pavement of right side on the right side of this car Angular separation is in(0,180).

When target pedestrian is located at this car left row track, either right side runway or during the pavement of right side, that is, Target pedestrian is not in this vehicle lane, but in this vehicle lane both sides.If the traveling type of target pedestrian is along road row Enter, inversely advance, away from any kind in this car, then control this car to keep adapting to cruising condition, wherein, it is feeling the pulse with the finger-tip to be advanced along road It is 0 that pedestrian movement direction, which is marked, with this car traveling angular separation, such as is located at the adjacent runway in this car left and right sides shown in Fig. 4 Target pedestrian 1. or 3., respectively where respective in runway toward direction straight up(The travel direction of this car is also vertical Upwards)Advance;Reverse advance refers to that the target pedestrian direction of motion is 180 with this car traveling angular separation, such as shown in Fig. 4 Positioned at the adjacent runway in this car left and right sides target pedestrian 1. or 3., respectively where respective in runway toward side straight down To traveling;Refer to that target pedestrian its direction of motion at this car left row track is in this car traveling angular separation away from this car (180,360), such as 3., it advances the target pedestrian positioned at this car left row track shown in Fig. 4 to the left;Or mesh Mark pedestrian's runway or its direction of motion travels angular separation with this car and is in during the pavement of right side on the right side of this car(0,180 ˚), such as 1., it advances the target pedestrian for being located at runway on the right side of this car shown in Fig. 4 to the right.Due in these cases, Target pedestrian is in this vehicle lane both sides, and its direction of motion will not intersect with this car travel direction, does not interfere with this Car is travelled, and therefore the risk also not collided, continues the original cruise control of this car.

When the traveling type of target pedestrian is jaywalks, it is likely that collided with this car, it is therefore desirable to enter one Step judges whether target pedestrian has risk of collision with this car, if any the brake hard of this car is then controlled, as controlled this car to turn to without if Avoid and go out warning to target line human hair, wherein, it is different according to target pedestrian present position, judge the traveling type jaywalked When, the angle angle of the target pedestrian direction of motion and this car travel direction is also different, specifically:Target pedestrian is located at this car During left side, its direction of motion is in this car traveling angular separation(0,180), i.e., 0<α<180, then judge target pedestrian's Traveling type is jaywalks, such as 3., it advances the target pedestrian positioned at this car left row track shown in Fig. 4 to the right; When target pedestrian is located on the right side of this car, its direction of motion is in this car traveling angular separation(180,360), i.e., 180<α< 360, then the traveling type of target pedestrian is judged to jaywalk, such as the target for being located at runway on the right side of this car shown in Fig. 4 1., it advances pedestrian to the left.It is understood that above-mentioned target pedestrian is located on the left of this car, can be located on the left of this car Runway or the left side positioned at this vehicle lane Nei Benche;Target pedestrian is located on the right side of this car, can be located on the right side of this car Runway, either positioned at pavement on the right side of this car or the right side positioned at this vehicle lane Nei Benche.

When target pedestrian is located at this vehicle lane, if the traveling type of target pedestrian is advances along road, control is originally Car low cruise or turning avoidance, if the traveling type of target pedestrian is reverse traveling, control the brake hard of this car or Person's turning avoidance, wherein, advanced along road and refer to that the target pedestrian direction of motion is 0 with this car traveling angular separation, reverse advance is Feeling the pulse with the finger-tip mark pedestrian movement direction is 180, such as target positioned at this vehicle lane shown in Fig. 4 with this car traveling angular separation Pedestrian 2., in this vehicle lane toward straight up or vertically downward direction advance.Further, when target pedestrian is located at this car During front, if it is determined that pedestrian's speed, controls this car low cruise to follow before pedestrian and advances(Pedestrian is static, and this car stops Only;Pedestrian moves ahead, and this car follows forward), this type is applied to scenes such as business districts.If pedestrian is not immediately ahead of this car, Then this car is controlled to take turning avoidance.

When target pedestrian is located at this vehicle lane, if the traveling type of target pedestrian is away from this car, control is originally Car keeps adapting to cruising condition, wherein, refer to that its direction of motion is travelled with this car when target pedestrian is on the left of this car away from this car Angular separation is in(180,360), such as 2., it advances the target pedestrian positioned at this vehicle lane shown in Fig. 4 to the left; Its direction of motion is in this car traveling angular separation when either target pedestrian is on the right side of this car(0,180), such as Fig. 4 institutes 2., it advances the target pedestrian positioned at this vehicle lane shown to the right.

If it should be noted that obtain multiple target pedestrian movement state informations, and the traveling of different target pedestrian Type is also differed, then controls this car driving mode to there is the difference of the safe class pre-set.Specifically, such as preceding institute State, if the traveling type of target pedestrian 1 is to be advanced in this car left row track along road, this car driving mode should under such a situation It is to maintain adaptation cruising condition;If also having the runway on the right side of this car of target pedestrian 2 to jaywalk simultaneously, lower of such a situation Car driving mode should be brake hard or turning avoidance, then this car traveling side that the traveling type according to target pedestrian 1 is taken Formula, it is clear that generate and conflict with this car driving mode that the traveling type according to target pedestrian 2 is taken.To solve this conflict, this Embodiment takes safe class setting to this car driving mode in control, to be most avoided that collision for highest safe class, When different driving modes are clashed, control is performed according to the driving mode compared with high safety grade.Specifically, this garage Mode is sailed to be followed successively by from high to low by safe class:Brake hard, turning avoidance, low cruise, adaptation cruise.Therefore, it is foregoing This car driving mode, i.e. brake hard or turning avoidance should be controlled according to the traveling type of target pedestrian 2 under example(Safety etc. Level is higher than adaptation cruise).

Further, during foregoing control this car turning avoidance, in addition to considering not with target pedestrian collision, to enter One step improves security, in addition it is also necessary to the risk of collision with other traffic participants is considered, accordingly, it would be desirable to obtain the traffic of this car periphery Condition information, and be controlled in this car turning avoidance with reference to this car periphery traffic related information, to avoid and other traffic Participant collides.

In addition, this front side traffic lights information can be also obtained by multiple radar system or multi-camera system, and Traffic lights from green light be changed into amber light or red light when, control the braking of this car to be parked in before vehicle stop line.It can so avoid When low cruise follows target pedestrian, the situation for the traffic signal violation lamp such as occur making a dash across the red light.

Meanwhile, this car periphery traffic related information can also be obtained by multiple radar system or multi-camera system, and utilize V2X technologies, this car periphery traffic related information is sent by radio receiving transmitting module to this car front vehicle(Predominantly believe with car Number), for front vehicle early warning;Or send this car periphery traffic related information to traffic control system(Predominantly congestion is believed Number), command or dispatch for traffic control system.

Based on the embodiment of the present invention two, the embodiment of the present invention one provides a kind of vehicle collision avoidance cruise control system, including:

Pedestrian's state sensor, for obtaining target pedestrian's movement state information;

Master controller, for the target pedestrian movement state information according to acquisition and this car real time running state, judges target The traveling type of pedestrian, and according to traveling Type Control this car driving mode of target pedestrian.

Wherein, pedestrian's state sensor is specifically for obtaining target pedestrian present position and the direction of motion, master controller Specifically for the angle according to target pedestrian present position, the target pedestrian direction of motion and this car travel direction, target line is judged The traveling type of people, the traveling type includes:Jaywalk, advanced along road, inversely being advanced and away from this car.

Wherein, described jaywalk refers to that target pedestrian is located at its direction of motion when on the left of this car and pressed from both sides with this car travel direction Angle is in(0,180), or target pedestrian when being located on the right side of this car its direction of motion and this car travel angular separation and be in (180,360);

Described advanced along road refers to that the target pedestrian direction of motion is 0 with this car traveling angular separation;

The reverse traveling refers to that the target pedestrian direction of motion is 180 with this car traveling angular separation;

It is described to refer to that target pedestrian its direction of motion at this car left row track is travelled at angular separation with this car away from this car In(180,360), or target pedestrian runway or its direction of motion and this garage during the pavement of right side on the right side of this car Angular separation is sailed to be in(0,180).

The vehicle collision avoidance cruise control system of the present embodiment also includes multiple radar system and multi-camera system, is used to Vehicle around this car, pedestrian, traffic lights, road traffic beacon information are obtained, and the information of acquisition is carried out at fusion Reason.The millimeter wave angle radar of multiple radar system corner including the preposition radar installed in this front side and after this Chinese herbaceous peony, Multi-camera system includes the front camera installed in windshield, and installed in rearview mirror both sides and the angle in this tailstock portion Camera.Angle radar and angle camera are mainly used in judging whether vehicle-surroundings environment allows steering.Pedestrian's state sensor collection Into in multiple radar system or multi-camera system.

Master controller controls this car driving mode according to the traveling type of the target pedestrian judged, is by main What several control devices were realized, including:

Vehicle electric constancy system ESP, the brake command for performing this car;

Steering wheel angle sensor SAS, the steering angle signal for providing this car, and electric power steering is made by the signal The judgement of system EPS steering angles;

Engine controller EMS, the order for receiving master controller, is controlled to engine air throttle and moment of torsion, control The acceleration of this car and engine braking slow down;

Gearbox control TCU, driving model and gear information for providing driver control this car to add and subtract gear;

Electric boosting steering system EPS, for providing torque parameter, and receives the order of master controller, performs wheel steering Control.

Additionally include system switching, for opening and closing vehicle collision avoidance cruise control system;And Body Control Device BCM, for system switching signal to be sent to CAN.

The control system of the present embodiment is additionally provided with radio receiving transmitting module, for by V2X technologies by this car periphery traffic shape Condition information is sent to this car front vehicle or traffic control system.

By described above, the beneficial effect of the embodiment of the present invention is:

By obtaining target pedestrian's movement state information, the target pedestrian of each runway in this car periphery is identified, judged The traveling type of target pedestrian, and control this car to brake or turning avoidance pedestrian accordingly, it is to avoid with pedestrian collision, raising is patrolled Navigate by water the security sailed;Or control this car low speed to follow pedestrian, with the operation such as stopping, in the case where not influenceing security, carry High driving comfort;

When there is conflict simultaneously for a variety of driving modes, according to safe class height, according to the higher traveling side of safe class Formula performs control, it is ensured that the safety of pedestrian and vehicle;

Also using V2X technologies, rearward vehicle or traffic control system send congestion and with car signal to the present invention, clear for rear car Upcoming traffic information is solved, facilitates rear car to control spacing and move ahead, and is directed traffic for traffic control system coordination, and this can be believed Number be applied to vehicle platoon travel control.

Above disclosure is only preferred embodiment of present invention, can not limit the right model of the present invention with this certainly Enclose, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.

Claims (17)

1. a kind of vehicle collision avoidance cruise control method, including:
Obtain target pedestrian's movement state information;
According to the target pedestrian movement state information of acquisition and this car real time running state, the traveling class of target pedestrian is judged Type;
According to traveling Type Control this car driving mode of target pedestrian.
2. control method according to claim 1, it is characterised in that the target pedestrian movement state information at least includes Target pedestrian present position and the direction of motion, it is described according to the target pedestrian movement state information of acquisition and the real-time row of this car State is sailed, the traveling type of target pedestrian is judged, is specifically according to target pedestrian present position, the target pedestrian direction of motion and sheet The angle of car travel direction, judges the traveling type of target pedestrian, and the traveling type includes:Jaywalk, advanced along road, it is inverse To traveling and away from this car,
Wherein, described jaywalk refers to that target pedestrian is located at its direction of motion when on the left of this car and travelled with this car at angular separation In(0,180), or target pedestrian when being located on the right side of this car its direction of motion and this car travel angular separation and be in(180 , 360);
Described advanced along road refers to that the target pedestrian direction of motion is 0 with this car traveling angular separation;
The reverse traveling refers to that the target pedestrian direction of motion is 180 with this car traveling angular separation;
It is described to refer to that target pedestrian its direction of motion at this car left row track is travelled at angular separation with this car away from this car In(180,360), or target pedestrian runway or its direction of motion and this garage during the pavement of right side on the right side of this car Angular separation is sailed to be in(0,180).
3. control method according to claim 2, it is characterised in that the traveling Type Control sheet according to target pedestrian Car driving mode, is specifically included:
When target pedestrian is located at this car left row track, either right side runway or during the pavement of right side, if target pedestrian Traveling type advanced to be advanced along road, inversely, away from any kind in this car, then control this car to keep adapting to cruising condition.
4. control method according to claim 2, it is characterised in that the traveling Type Control sheet according to target pedestrian Car driving mode, is specifically included:
When the traveling type of target pedestrian is jaywalks, determine whether whether target pedestrian has risk of collision with this car, If any the brake hard of this car is then controlled, as controlled this car turning avoidance without and if going out warning to target line human hair.
5. control method according to claim 2, it is characterised in that the traveling Type Control sheet according to target pedestrian Car driving mode, is specifically included:
When target pedestrian is located at this vehicle lane, if the traveling type of target pedestrian controls this car low to be advanced along road Speed cruise or turning avoidance, if the traveling type of target pedestrian is reverse traveling, controls the brake hard of this car or turn To avoidance.
6. control method according to claim 2, it is characterised in that the traveling Type Control sheet according to target pedestrian Car driving mode, is specifically included:
When target pedestrian is located at this vehicle lane, if the traveling type of target pedestrian is away from this car, Ben Chebao is controlled Hold adaptation cruising condition.
7. the control method according to claim 4 or 5, it is characterised in that also including obtaining this car periphery traffic letter Breath, and be controlled in this car turning avoidance with reference to this car periphery traffic related information, to avoid and other traffic participants Collide.
8. the control method according to claim any one of 1-6, it is characterised in that as multiple target pedestrians according to acquisition Movement state information, when judging the traveling type of each target pedestrian, then controls this garage according to the safe class pre-set Mode is sailed, this car driving mode is followed successively by from high to low by safe class:Brake hard, turning avoidance, low cruise, adaptation are patrolled Boat.
9. the control method according to claim any one of 1-6, it is characterised in that also include:
This front side traffic lights information is obtained, and when traffic lights are changed into amber light or red light from green light, controls this car Brake to be parked in before vehicle stop line;Or/and
This car periphery traffic related information is obtained, and this car periphery traffic is sent to this car front vehicle by V2X technologies Information, for front vehicle early warning;Or this car periphery traffic related information to traffic control system is sent by V2X technologies, Command or dispatch for traffic control system.
10. a kind of vehicle collision avoidance cruise control system, it is characterised in that including:
Pedestrian's state sensor, for obtaining target pedestrian's movement state information;
Master controller, for the target pedestrian movement state information according to acquisition and this car real time running state, judges target The traveling type of pedestrian, and according to traveling Type Control this car driving mode of target pedestrian.
11. control system according to claim 10, it is characterised in that pedestrian's state sensor is specifically for obtaining Target pedestrian present position and the direction of motion, the master controller is specifically for according to target pedestrian present position, target line The angle of people's direction of motion and this car travel direction, judges the traveling type of target pedestrian, the traveling type includes:Pass through horse Road, advance along road, inversely advance and away from this car,
Wherein, described jaywalk refers to that target pedestrian is located at its direction of motion when on the left of this car and travelled with this car at angular separation In(0,180), or target pedestrian when being located on the right side of this car its direction of motion and this car travel angular separation and be in(180 , 360);
Described advanced along road refers to that the target pedestrian direction of motion is 0 with this car traveling angular separation;
The reverse traveling refers to that the target pedestrian direction of motion is 180 with this car traveling angular separation;
It is described to refer to that target pedestrian its direction of motion at this car left row track is travelled at angular separation with this car away from this car In(180,360), or target pedestrian runway or its direction of motion and this garage during the pavement of right side on the right side of this car Angular separation is sailed to be in(0,180).
12. control system according to claim 10, it is characterised in that also including multiple radar system and multi-cam system System, is used to obtain vehicle around this car, pedestrian, traffic lights, road traffic beacon information, and the information of acquisition is entered Row fusion treatment, the milli of multiple radar system corner including the preposition radar installed in this front side and after this Chinese herbaceous peony Metric wave angle radar, the multi-camera system includes the front camera installed in windshield, and installed in rearview mirror both sides And the angle camera in this tailstock portion.
13. control system according to claim 12, it is characterised in that pedestrian's state sensor is integrated in many radars In system or multi-camera system.
14. control system according to claim 12, it is characterised in that the master controller is additionally operable to the sheet according to acquisition Front side traffic lights information, when traffic lights are changed into amber light or red light from green light, controls the braking of this car to be parked in car Before stop line.
15. control system according to claim 10, it is characterised in that also include:
Vehicle electric constancy system, the brake command for performing this car;
Steering wheel angle sensor, the steering angle signal for providing this car, and electric power steering system is made by the signal The judgement of system steering angle;
Engine controller, the order for receiving the master controller, is controlled to engine air throttle and moment of torsion, control The acceleration of this car and engine braking slow down;
Gearbox control, driving model and gear information for providing driver control this car to add and subtract gear;
Electric boosting steering system, for providing torque parameter, and receives the order of master controller, performs the control of wheel steering System.
16. control system according to claim 10, it is characterised in that also include:
Radio receiving transmitting module, for this car periphery traffic related information to be sent into this car front vehicle or friendship by V2X technologies Logical management system.
17. the control system according to claim any one of 10-16, it is characterised in that the master controller is additionally operable to root This car driving mode is controlled according to the safe class pre-set, this car driving mode is followed successively by from high to low by safe class:Tightly Anxious braking, turning avoidance, low cruise, adaptation cruise.
CN201710306636.2A 2017-05-04 2017-05-04 A kind of vehicle collision avoidance cruise control system and its control method CN107161147A (en)

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