CN107364445A - A kind of self-adaption cruise system for merging close-range detection system - Google Patents
A kind of self-adaption cruise system for merging close-range detection system Download PDFInfo
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- CN107364445A CN107364445A CN201710139094.4A CN201710139094A CN107364445A CN 107364445 A CN107364445 A CN 107364445A CN 201710139094 A CN201710139094 A CN 201710139094A CN 107364445 A CN107364445 A CN 107364445A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
-
- 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
-
- 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
- B60W2554/80—Spatial relation or speed relative to objects
Abstract
A kind of self-adaption cruise system for merging close-range detection system, is installed in one first vehicle, it includes proximity detection unit and control unit.Proximity detection unit detects the transport condition of the barrier and the second vehicle in the first vehicle front set distance range, and a running condition information is produced according to transport condition, according to whether barrier be present, produces obstacle information or clear information.Control unit receives the information of proximity detection unit, calculate the start-stop time interval that the first vehicle stops to starting, and compare start-stop time interval and a setting time, when the first vehicle is in halted state, and second vehicle when being changed into transport condition from halted state, if control unit receives obstacle information, the first vehicle is controlled to keep stopping；If control unit receives clear information, according to start-stop time interval and the comparison result of setting time, judge whether to control the first vehicle to start running.
Description
Technical field
The present invention relates to technical field of vehicle safety, more particularly to a kind of adaptive cruise for merging close-range detection system
System.
Background technology
As international and domestic major Automobile Enterprises are developed successively and release active safety function, including adaptive cruise system
System, automatic emergency brake system, track keep accessory system etc..According to latest survey, self-adaption cruise system is user's perception
The higher function of value, and the use of user couple and the function has higher demand.
The safety in utilization of self-adaption cruise system is a technical problem for needing constantly to be lifted all the time, it is necessary to consider each
Kind operating mode, the security studied the convenience of function and used, makes both reach balance, ensures to allow on the premise of safety as far as possible
The use feeling of user reaches best.
The working condition of self-adaption cruise system, which is mainly divided, following components：Close, be standby, activating, failure；Its
In：
Close：System is closed, and driver can not be adjusted to functional parameter；
It is standby：System is in opening, but adaptive cruise function is longitudinally controlled to vehicle progress；
Activation：Driver can be longitudinally controlled to being carried out from car by activating push button exciting system, self-adaption cruise system.
In active state, self-adaption cruise system is directed to several states, can make following manipulate：If during without front truck, adaptive cruise system
System can at the uniform velocity be travelled by the speed that driver sets.If front truck is followed to travel, and front truck speed is less than from car speed, adaptively patrols
Boat system can control vehicle to keep the headway of setting to follow form with front truck.If front truck becomes to stopping, self-adaption cruise system energy
Front truck is enough followed to stopping, and finally keeps the safe distance between vehicles of two cars.Front truck is followed to after stopping, can be certainly from car if front truck is started to walk
Move or follow front truck to start to walk in the case of driver certifying；
Failure：There is hardware and software failure from the sensor using cruise system or perform interconnected system failure.
At present, if apart from radar or long range radar or camera in the sensor main of self-adaption cruise system.Wherein,
Although middle have higher detection essence for vehicle front larger distance (such as 160 meters) apart from radar or long range radar
Degree, then due to the limitation of itself ardware feature, to the detection accuracy of the quiet distance of vehicle front (in the range of about 5 meters) environment simultaneously
It is not high, detection blind area be present in the range of about 5 meters of vehicle front.Although camera can detect 100 meters or so of vehicle front
Environment, (be typically mounted on above front windshield) the reason for yet with its installation site, deposited before vehicle fore cabin lid
In detection blind area.That is, current self-adaption cruise system sensor is present in vehicle front short range internal memory
The detection blind area the problem of, therefore it can not normally judge vehicle under some special operating modes during adaptive cruise use
Front operating mode, have to lose some conveniences and comfortableness so as to cause function to ensure security.
For example, in above-mentioned adaptive cruise " activation " state, " front truck is being followed to after stopping, if front truck is started to walk, from car energy
It is enough automatic or follow front truck to start to walk in the case of the driver certifying " situation under, it is extremely complex in traffic, particularly exist
Outskirts of a town road, pedestrian, bicycle, battery truck and motorcycle are navigated within road, when vehicle is under adaptive cruise function control
Front truck is followed now very likely to occur pedestrian, bicycle, motorcycle etc. among car and front truck to after stopping, if automatic from car
Follow front truck to start to walk, then can be collided with road ahead user.
Traditional strategy for evading the risk is, when rear car follows front truck to the stopping time, front truck starting in 3 seconds, rear car can
Automatically starting is followed, if front truck was started to walk after 3 seconds, rear car will not then follow starting automatically, and need ability after driver certifying
Starting, wherein, 3 second time can adjust according to actual conditions.In 3 seconds, it is also possible to occur pedestrian between rear car and front truck, if
It will be adjusted to for 3 seconds 0 second, then each driver is required to after front truck is started to walk, then is started to walk by button or throttle, this pole again
The big comfortableness for reducing driver and using.
Therefore traditional solution, can not inherently evade above-mentioned dangerous appearance, and traditional solution party
Case, the convenience that extreme influence driver is used and comfortableness.
The content of the invention
In view of this, can effectively evade risk of collision the invention provides one kind not interfering with driving facility again and relax
The self-adaption cruise system of the fusion close-range detection system of adaptive.
The self-adaption cruise system of fusion close-range detection system provided by the invention, is installed in one first vehicle, it is wrapped
Include a proximity detection unit and a control unit.The proximity detection unit is used to detect the first vehicle front setting
The transport condition of a barrier and one second vehicle in distance range, and transport condition letter is produced according to the transport condition
Breath, according to whether the barrier be present produces an obstacle information or a clear information.Described control unit electrically connects
The proximity detection unit, for receive running condition information, obstacle information that the proximity detection unit transmits or
Clear information.Described control unit also calculates first vehicle and stops to a start-stop time interval of starting, and compares
The start-stop time interval and a setting time.When first vehicle is in halted state, and second vehicle is by stopping
When state is changed into transport condition, if described control unit receives the obstacle information, first vehicle is controlled to keep
Stop；If described control unit receives the clear information, according to the start-stop time interval and during the setting
Between comparison result, judge whether to control first vehicle to start running.
Further, grown during the self-adaption cruise system also includes one away from probe unit, the middle length is away from probe unit
For detecting the transport condition and obstacle information of the second vehicle outside the first vehicle front set distance range, the control
Running condition information, obstacle information or the clear information that unit processed receives include the middle length away from caused by probe unit
Running condition information, obstacle information or clear information.
Further, the self-adaption cruise system also includes an engine unit, and the engine unit electrically connects institute
State control unit, described control unit produces one first control information according to the running condition information of reception, to control described the
One vehicle start or acceleration, the engine unit receive first control information, and according to the first control information control
Make first vehicle start or acceleration.
Further, when described control unit judges that the start-stop time interval is less than the setting time, according to described
First control information controls the engine unit to start first vehicle.
Further, the self-adaption cruise system further includes a Throttle Opening Control unit, and the Throttle Opening Control unit is electrically connected
Described control unit is connect, when described control unit judges that the start-stop time interval is more than the setting time, the control is single
Member waits driver to control the Throttle Opening Control unit, and to produce a Throttle Opening Control information, described control unit is according to the throttle
Control information controls the engine unit to start first vehicle.
Further, the self-adaption cruise system further includes a brake unit, electrically connects described control unit, the control
Unit processed produces one second control information always according to the running condition information of reception, and the brake unit receives second control
Information, and first vehicle deceleration or stopping are controlled according to second control information, when described in the brake unit control
When first vehicle stops, second vehicle is changed into transport condition from halted state, and described control unit receives the barrier
Hinder thing information, described control unit controls first vehicle to be continuously maintained in halted state according to second control information.
Further, the self-adaption cruise system further includes an input block, and the input block electrically connects the control
Unit processed, stored for inputting the setting time to described control unit.
Further, the proximity detection unit includes a ultrasonic radar unit and/or one looks around unit, described super
Sound radar unit launches ultrasonic wave to detect the barrier or second vehicle, and the unit of looking around comprises at least installation
Camera in headstock or vehicle body both sides, the unit of looking around detect the barrier or second car using the camera
.
Further, the middle length includes a millimetre-wave radar unit and/or a camera unit away from probe unit, described
Millimetre-wave radar unit launches millimeter wave to detect the barrier or the second car outside the first vehicle front set distance range
, the camera unit is installed on above front windshield to detect the barrier outside the first vehicle front set distance range
Hinder thing or the second vehicle.
The present invention utilizes the ultrasonic radar unit of proximity detection unit, and/or looks around the camera of unit, before detection
Whether square vehicle and barrier, self-adaption cruise system are simultaneously less than the setting time according to start-stop time interval, and judgement is
The first vehicle of no control starts running so that the first vehicle follows the second vehicle of front to after stopping, if the second vehicle start, and it is preceding
Square clear, the first vehicle can follow front truck to start to walk automatically, be started to walk after being reaffirmed without driver；Or work as front
When there is the road user such as pedestrian, do not started to walk automatically followed by front vehicles, or before following in the case of the driver certifying
Car is started to walk.By ultrasonic radar unit in proximity detection unit and unit is looked around, improves traditional self-adaption cruise system
Sensor proximity detection blind zone problem, improve security, convenience and the comfortableness of self-adaption cruise system.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow the above and other objects, features and advantages of the present invention can
Become apparent, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail as follows.
Brief description of the drawings
Fig. 1 is the schematic diagram of the self-adaption cruise system of fusion close-range detection system provided by the invention.
Fig. 2 is the vehicle signal for the self-adaption cruise system that fusion close-range detection system is configured with the embodiment of the present invention
Figure.
Fig. 3 A are the installation site of millimetre-wave radar unit of the middle length away from probe unit and detection model in the embodiment of the present invention
Enclose schematic diagram.
Fig. 3 B are that the installation site of camera unit of the middle length away from probe unit and investigative range are shown in the embodiment of the present invention
It is intended to.
Fig. 4 A are the installation site of the ultrasonic radar probe unit of proximity detection unit and spy in the embodiment of the present invention
Survey scope schematic diagram.
Fig. 4 B are the installation site for looking around unit of proximity detection unit and investigative range signal in the embodiment of the present invention
Figure.
Embodiment
Further to illustrate the present invention to reach the technological means and effect that predetermined goal of the invention is taken, below in conjunction with
Accompanying drawing and preferred embodiment, it is as follows to the detailed description of the invention.
Referring to Fig. 1, Fig. 1 is the signal of the self-adaption cruise system of fusion close-range detection system provided by the invention
Figure.As shown in Figure 1, merging the self-adaption cruise system 100 of close-range detection system includes middle length away from probe unit 170, low coverage
From probe unit 110, control unit 120 and engine unit 130.Control unit 120 electrically connects proximity detection unit 110
With middle length control unit 120 is electrically connected away from probe unit 170, engine unit 130.
Referring to Fig. 2, Fig. 2 is the self-adaption cruise system that fusion close-range detection system is configured with the embodiment of the present invention
Vehicle driving schematic diagram.As shown in Figure 2, the first vehicle 200 and the second vehicle 202 are travelled on road, the first vehicle
200 fronts follow the second vehicle 202 to travel.First vehicle 200 is configured with the adaptive cruise system of fusion close-range detection system
System 100.
Referring to Fig. 1, middle length be used for away from probe unit 170 outside the set distance range of the first vehicle of detection range 200 the
The transport condition (transport condition can be travel condition or halted state) of two vehicles 202, proximity detection unit 110 is used for
The transport condition of the second vehicle 202 in the set distance range of the first vehicle of detection range 200, that is to say, that when the second vehicle
202 and first the distance between the vehicle 200 when exceeding setpoint distance, its transport condition is detected by middle length away from probe unit 170,
When the distance between the second vehicle 202 and the first vehicle 200 are less than setpoint distance, its transport condition is by proximity detection unit
110 detections.The setpoint distance can grow the finding range away from probe unit 170 and proximity detection unit 110 in and adjust
It is whole, it is generally the case that the numerical value of setpoint distance should make ranging of the middle length away from probe unit 170 and proximity detection unit 110
Scope being capable of seamless connection.Middle length detects the traveling of the second vehicle 202 away from probe unit 170 and proximity detection unit 110
After state, a running condition information Sc is produced, running condition information Sc includes the transport condition detected.Middle length is single away from detection
Member 170 and proximity detection unit 110 are also used for detecting the barrier 250 in the front of the first vehicle 200, in this embodiment, barrier
Hinder a pedestrian on Wu250Wei roads.Central length detects barrier away from probe unit 170 and proximity detection unit 110
When 250, obstacle information So is produced.When the front of the first vehicle 200 and clear, middle length is away from probe unit 170 and low coverage
Barrier is not detected from probe unit 110, therefore, middle length produces one away from probe unit 170 and proximity detection unit 110
Clear information Sn.
Control unit 120 grows the running condition information transmitted away from probe unit 170 and proximity detection unit 110 in receiving
Sc, obstacle information So and clear information Sn.Control unit 120 is believed according to running condition information and/or barrier
Cease So, clear information Sn and produce the first control information S1 and the second control information S2.Control unit 120 is with the first control
Information S1 controls the first vehicle 200 to start to walk or accelerate, and controls the first vehicle 200 to slow down or stop with the second control information S2.
Control unit 120 can calculate the first vehicle 200 from stopping completely, the time interval between being started running to next time, hereon referred to as
Start-stop time interval To.In addition, control unit 120 stores a setting time Ts.
Engine unit 130 electrically connects control unit 120.Engine unit 130 receives the first control information S1, the first control
Information S1 controls engine unit 130 processed is started to walk or accelerated, then the first vehicle 200 is started to walk or accelerated.
In an embodiment, the self-adaption cruise system 100 for merging close-range detection system further includes an input block 140,
Input block 140 electrically connects control unit 120.Input block 140 is used to input setting time Ts, and setting time Ts is stored
To control unit 120.It should be noted that above-mentioned setting time Ts can be manually entered numerical value or a default value for one.
In an embodiment, the self-adaption cruise system 100 of Fig. 1 fusion close-range detection system further includes a brake
Unit 150, brake unit 150 electrically connect control unit 120, and brake unit 150 is used to receive the second control information S2.It please join
Read Fig. 2, the front of the first vehicle 200 follows the second vehicle 202 to travel, when the second vehicle 202 is changed into stopping completely from transport condition,
Control unit 120 produces the second control information S2, the second control information S2 control according to the running condition information of the second vehicle 202
System brake unit 150 is braked, then rear in deceleration and enters halted state therewith with the first vehicle 200 of car.
When the first vehicle 200 is in halted state, the second vehicle 202 is changed into transport condition, i.e., second from halted state
The starting traveling of vehicle 202.Now, middle length away from probe unit 170 or proximity detection unit 110 detect the second vehicle 202 by
Stop being changed into starting traveling, and detect the front of the first vehicle 200 to have a barrier 250.It is it should be noted that signified herein
Barrier can be that pedestrian, bicycle, battery truck and motorcycle etc. follow front truck to stopping successor under adaptive cruise function control
Meaning possibly be present at the barrier in the front of the first vehicle 200.Control unit 120 receives obstacle information So, and according to traveling
Status information and obstacle information produce the second control information S2, control the first vehicle 200 to continue according to the second control information S2
It is maintained at halted state.
In another embodiment, when the first vehicle 200 is in halted state, the second vehicle 202 is changed into from halted state
Transport condition.Control unit 120 receives clear information Sn, and control unit 120 judges whether start-stop time interval To is small
Judge whether that the first vehicle 200 of control starts running state in setting time Ts, and according to judged result.When control unit 120
When judging that start-stop time interval To is less than setting time Ts, control unit 120 controls engine unit with the first control information S1
130 accelerate or start running, then the first vehicle 200 starts to start to walk, and into transport condition, merges the adaptive of close-range detection system
Cruise system 100 is answered to complete the traveling control that the first vehicle 200 of control follows front truck (i.e. the second vehicle 202) to start to walk.
In another embodiment, the self-adaption cruise system 100 for merging close-range detection system further includes a Throttle Opening Control list
Member 160, Throttle Opening Control unit 160 electrically connect control unit 120.Control unit 120 judges that start-stop time interval To is more than setting
During time Ts, control unit 120 waits driver to control Throttle Opening Control unit 160.It should be noted that above-mentioned driver controls oil
The mode of door control unit 160 can be driver's accelerator pedal, turn throttle or modes of other any control throttles.Throttle
Control unit 160 then produces a Throttle Opening Control information Sa, and control unit 120 is according to received Throttle Opening Control information Sa, control
Engine unit 130 processed starts running, then the first vehicle 200 starts starting acceleration, into transport condition.
Middle length in an embodiment, the first vehicle 200 away from probe unit 170 include a millimetre-wave radar unit 172 and/
An or camera unit 174.Millimetre-wave radar unit 172 is arranged at the front end of the first vehicle 200, for launching millimeter wave to visit
Ranging is from the vehicle 202 of barrier 250 or second outside the set distance range of the first vehicle 200.What camera unit 174 used takes the photograph
As head is common camera, it is arranged at the inside rear-view mirror opening position above front windshield, for gathering the car of distance first
The image of the vehicle 202 of barrier 250 or second outside 200 set distance ranges.As shown in Figure 3A, millimetre-wave radar unit
172 BURN-THROUGH RANGE is about 160 meters, and nearest detection range is about 2 meters, and its detection blind area is before the first vehicle 200
Region in the range of 2 meters of side.As shown in Figure 3 B, the BURN-THROUGH RANGE of camera unit 174 is about 100 meters, and its detection is blind
Area is the delta-shaped region in front of vehicle fore cabin lid.
Proximity detection unit 110 in an embodiment, the first vehicle 200 includes a ultrasonic radar unit 112.It is super
Sound radar unit 112 realizes that major function has blind area detection, semi-automatic/automatic parking auxiliary work(based on ultrasonic sensor
Energy, barrier prompting etc..Ultrasonic radar unit 112 can launch ultrasonic wave to surrounding, with the vehicle of detecting obstacles thing 250 or second
202.When ultrasonic wave gets to the vehicle 202 of barrier 250 or second, ultrasonic radar unit 112 receives the ultrasonic wave being reflected back, and
Judge the distance of the vehicle 202 of front obstacle 250 or second and this car.Ultrasonic radar unit 112 is arranged at first car
200 front end, along headstock contoured profile at headstock, as shown in Figure 4 A, shows to be provided with 4 ultrasonic wave thunders at headstock in Fig. 4 A
Up to unit, so, it is ensured that the investigative range of proximity detection unit 110, avoid detection dead angle being present.Certainly, in order to just
In parking and preventing car rear-end, tail part is preferably also disposed with ultrasonic radar unit 112, and its arrangement is with being arranged in
It is similar during headstock, it will not be repeated here.
In this way, by adding ultrasonic radar unit 112 on the first vehicle 200, it is possible to achieve vehicle periphery is closely
In the range of obstacle detection, and when detecting closely barrier, control unit 120 is informed in time, by control unit 120
Automatically corresponding control measure are taken, improve the travel safety of the self-adaption cruise system 100 of fusion close-range detection system,
And driver comfort and convenience are not interfered with.Because ultrasonic radar unit 112 has higher proximity detection accuracy,
Therefore the proximity detection in caused by the long hardware limitation away from radar itself in existing self-adaption cruise system can be avoided
Inaccurate situation.
Proximity detection unit 110 in another embodiment, the first vehicle 200 looks around unit 117 including one.This implementation
The unit 117 of looking around of example looks around unit for 360 degree, and it is mainly realized by being arranged in the fish-eye camera of vehicle's surroundings, mainly
Function is miscellaneous function of parking.As shown in Fig. 4 B, looking around unit 117 includes four cameras 220, and these cameras 220 are main
It is distributed at the rearview mirror of headstock, the tailstock and vehicle body both sides, the investigative range of these cameras 220 is integrated, can be with
The image in the range of 360 degree of vehicle is detected, avoids the occurrence of detection dead angle.In this way, look around list by being added on the first vehicle 200
Member 117, it is possible to achieve the obstacle detection in vehicle periphery short range, and when detecting closely barrier, in time
Control unit 120 is informed, corresponding control measure are taken by control unit 120 automatically, improves fusion close-range detection system
The travel safety of self-adaption cruise system 100, and do not interfere with driver comfort and convenience.Have due to looking around unit 117
There is larger investigative range, therefore can avoid in existing self-adaption cruise system because camera is only installed on front windshield
Detection blind area caused by side, improve the accuracy of detection.
In addition, in another embodiment of the present invention, the proximity detection unit 110 in the first vehicle 200 can also be simultaneously
Including ultrasonic radar unit 112 and unit 117 is looked around, makes the self-adaption cruise system 100 of fusion close-range detection system
Proximity detection unit 110 ultrasonic radar unit 112 and unit 117 can be looked around combine simultaneously, therefore
By ultrasonic radar unit 112 and unit 117 can be looked around detect the first vehicle 200 and/or the information of front obstacle 250
Send the self-adaption cruise system 100 of fusion close-range detection system to, further improve the accuracy of detection.It should be noted
It is that foregoing front obstacle information includes：Whether obstacle information, the distance of barrier, alarm signal are had.
In summary, the present invention is by ultrasonic radar unit 112 and/or looking around unit 117 and being incorporated into and adaptively patrol
In the proximity detection unit 110 of boat system 100, to detect the barrier before the first vehicle 200, and coordinate setting time
Judge, self-adaption cruise system 100 is followed front truck to after stopping, can be automatic if the road users such as pedestrian occurs in front
Front vehicles are not followed to start to walk automatically, if front can follow front truck to start to walk, without driving automatically without road users such as pedestrians
Member starts to walk after reaffirming.Self-adaption cruise system sensor proximity detection blind zone problem can be made up, raising is adaptively patrolled
Security, convenience and the comfortableness of boat system.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the technical spirit pair according to the present invention without departing from technical solution of the present invention content
Any simple modification, equivalent change and modification that above example is made, in the range of still falling within technical solution of the present invention.
Claims (9)
1. a kind of self-adaption cruise system for merging close-range detection system, is installed in one first vehicle, it is characterised in that described
The self-adaption cruise system of fusion close-range detection system includes：
One proximity detection unit, for detecting the barrier and one second in the first vehicle front set distance range
The transport condition of vehicle, and a running condition information is produced according to the transport condition, according to whether the obstacle produce be present
A raw obstacle information or a clear information；
One control unit, electrically connects the proximity detection unit, and described control unit receives the proximity detection unit and passed
Running condition information, obstacle information or the clear information come, described control unit also calculate first vehicle and stopped
To a start-stop time interval of starting, and compare the start-stop time interval and a setting time；
When first vehicle is in halted state, and second vehicle is changed into transport condition from halted state, if described
Control unit receives the obstacle information, then controls first vehicle to keep stopping；If described control unit receives
The clear information, then according to the start-stop time interval and the comparison result of the setting time, judge whether to control
First vehicle starts running.
2. the self-adaption cruise system of fusion close-range detection system according to claim 1, it is characterised in that：Also include
Grown in one away from probe unit, the middle length be used to detect outside the first vehicle front set distance range away from probe unit the
The transport condition and obstacle information of two vehicles, running condition information that described control unit receives, obstacle information or without barrier
Thing information is hindered to include the middle length away from running condition information, obstacle information or clear information caused by probe unit.
3. the self-adaption cruise system of fusion close-range detection system according to claim 1, it is characterised in that：Also include
One engine unit, the engine unit electrically connect described control unit, and described control unit is according to the transport condition of reception
Information produces one first control information, and to control first vehicle start or acceleration, the engine unit receives described the
One control information, and first vehicle start or acceleration are controlled according to first control information.
4. the self-adaption cruise system of fusion close-range detection system according to claim 3, it is characterised in that：The control
When start-stop time interval described in unit judges processed is less than the setting time, start according to first control information control
Machine unit starts first vehicle.
5. the self-adaption cruise system of fusion close-range detection system according to claim 3, it is characterised in that：Further include
One Throttle Opening Control unit, the Throttle Opening Control unit electrically connects described control unit, when described control unit judges the start-stop
Between interval when being more than the setting time, it is oily to produce one that described control unit waits driver to control the Throttle Opening Control unit
Gate control information, described control unit control the engine unit to start first car according to the Throttle Opening Control information
.
6. the self-adaption cruise system of fusion close-range detection system according to claim 1, it is characterised in that：Further include
One brake unit, electrically connects described control unit, and described control unit produces one second always according to the running condition information of reception
Control information, the brake unit receives second control information, and controls described first according to second control information
Vehicle deceleration or stopping, when the brake unit controls first vehicle to stop, second vehicle is become by halted state
For transport condition, and described control unit receives the obstacle information, and described control unit is believed according to the described second control
Breath controls first vehicle to be continuously maintained in halted state.
7. the self-adaption cruise system of the fusion close-range detection system according to any one of claim 1 to 6, its feature exist
In：Further include an input block, the input block electrically connects described control unit, for input the setting time store to
Described control unit.
8. the self-adaption cruise system of the fusion close-range detection system according to any one of claim 1 to 6, its feature exist
In：The proximity detection unit includes a ultrasonic radar unit and/or one looks around unit, the ultrasonic radar unit hair
Ultrasonic wave is penetrated to detect the barrier or second vehicle, it is described look around unit and comprise at least be installed on headstock or vehicle body two
The camera of side, the unit of looking around detect the barrier or second vehicle using the camera.
9. the self-adaption cruise system of fusion close-range detection system according to claim 2, it is characterised in that：In described
Long to include a millimetre-wave radar unit and/or a camera unit away from probe unit, the millimetre-wave radar unit launches millimeter
To detect the barrier or the second vehicle outside the first vehicle front set distance range, the camera unit is installed on ripple
To detect the barrier or the second vehicle outside the first vehicle front set distance range above front windshield.
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