CN107458361A - Vehicle safety accessory system and its control method - Google Patents
Vehicle safety accessory system and its control method Download PDFInfo
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- CN107458361A CN107458361A CN201710683327.7A CN201710683327A CN107458361A CN 107458361 A CN107458361 A CN 107458361A CN 201710683327 A CN201710683327 A CN 201710683327A CN 107458361 A CN107458361 A CN 107458361A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
Abstract
The invention provides a kind of vehicle safety accessory system and its control method, is related to vehicle active safety technologies field, and the vehicle safety accessory system is used to be installed on vehicle, including：Controller, and information acquisition unit, long distance radar, low coverage radar, attention device and the brake actuator being connected respectively with controller.Information acquisition unit is used for the status information of collection vehicle；Controller is used to send open signal or shutdown signal to long distance radar and/or low coverage radar according to status information；Long distance radar is used to generate the first result of detection；Low coverage radar is used to generate the second result of detection；Controller is additionally operable to send cue to attention device according to the first result of detection and the second result of detection and sends brake signal to brake actuator；Attention device is used to issue the user with prompt message；Brake actuator is used for active brake vehicle.The present invention preferably improves travel safety, can after be installed on vehicle and do not influence former car performance, cost is relatively low.
Description
Technical field
The present invention relates to vehicle active safety technologies field, more particularly, to a kind of vehicle safety accessory system and its control
Method.
Background technology
With being continuously increased for automobile quantity, driver's quantity increases rapidly, and traffic accident also frequently occurs.Cause to hand over
Interpreter thus occur factor in addition to related to the driving technology of driver, drive over the speed limit, be absent minded, blind area driving,
Some individual factors of the driver such as doubling, fatigue driving, maloperation (by mistake by phenomenon of taking throttle as brake), and rainy day, greasy weather and night
Late low visibility driving is also the main reason for causing the accident.Therefore, traffic safety increasingly obtains the attention of people.
In order to lift travel safety, Some vehicles add the safety aids such as automatic breaking system, but invent
People has found that such safety assisting system is needed to the engine of former car, brakes, electrical system etc. mostly in research process
Its own system carries out intervention change, thus can only be assembled with car before dispatching from the factory by car manufacturer, and cost is higher, and can
It is poor by property.
The content of the invention
In view of this, it is an object of the invention to provide a kind of vehicle safety accessory system and its control method, to alleviate
The technical problem that safety assisting system cost is higher present in prior art and reliability is poor.
To achieve these goals, the technical scheme that the embodiment of the present invention uses is as follows：
In a first aspect, the embodiments of the invention provide a kind of vehicle safety accessory system, vehicle safety accessory system is used for
It is installed on vehicle, including：Controller, and information acquisition unit, long distance radar, the low coverage thunder being connected respectively with controller
Reach, attention device and brake actuator；Information acquisition unit is used for the status information of collection vehicle, and status information is sent to control
Device processed；Wherein, status information includes speed information, transmits information and braking information；Controller is used for according to status information
Open signal or shutdown signal are sent to long distance radar and/or low coverage radar；Long distance radar is used for when receiving open signal,
Barrier of the detection with vehicle in default first distance, generates the first result of detection, and by the first result of detection send to
Controller；Low coverage radar is used for when receiving open signal, barrier of the detection with vehicle in default second distance, raw
Sent into the second result of detection, and by the second result of detection to controller；Controller is additionally operable to according to the first result of detection and
Two result of detections send cue to attention device and send brake signal to brake actuator；Attention device is used to receive
During cue, prompt message is issued the user with；Brake actuator is used for when receiving brake signal, active brake vehicle.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, closely
It is ultrasonic distance measuring radar away from radar, long distance radar is millimetre-wave radar；The quantity of ultrasonic distance measuring radar is multiple, is set respectively
It is set to the row wheel side behind row wheel side, right side steering front wheel side and right side behind the left side steering front wheel side of vehicle, left side
Left front radar, left back radar, it is right before radar behind radar and the right side, and the preceding radar at the front bumper of vehicle and position
Rear radar at rear bumper；The quantity of millimetre-wave radar is at least one, sets at least to the front bumper positioned at vehicle
The preceding radar at place.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of second of first aspect, wherein, letter
Breath collecting unit includes car light signal wire and onboard diagnostic system；Car light signal wire is used for the braking information and traveling for detecting vehicle
Directional information；Onboard diagnostic system is used for the speed information and steering angle information for detecting vehicle.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the third of first aspect, wherein, letter
Breath collecting unit also includes acceleration transducer, for detecting the transmits information and ramp angles information of vehicle.
With reference to second of first aspect or the third possible embodiment, the embodiments of the invention provide first aspect
The 4th kind of possible embodiment, wherein, information acquisition unit also includes face recognition camera device；Face recognition shooting dress
The facial information for gathering user is put, the degree of fatigue of user is determined according to facial information, and degree of fatigue is sent to control
Device processed；Controller is used for when speed information is higher than preset vehicle speed value, opens face recognition camera device, is additionally operable to according to face
The degree of fatigue control attention device of identification camera device generation issues the user with prompt message, and control brake actuator with point
Brake mode abrupt deceleration vehicle.
With reference to the 4th kind of possible embodiment of first aspect, the embodiments of the invention provide the 5th of first aspect kind
Possible embodiment, wherein, information acquisition unit also includes braking signal switch, the braking information for collection vehicle；
Controller is used for when detecting that braking signal switch is connected by manual control, sends and closes to long distance radar and low coverage radar
Signal；Controller is additionally operable to the open and-shut mode according to result of detection and/or degree of fatigue control braking signal switch, with
Front vehicle is reminded to maintain safe distance.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 6th of first aspect kind, wherein, system
Dynamic actuator includes motor and the band tooth pressure bar being connected with motor；Wherein, brake actuator is fixed on the brake pedal master of vehicle
Beam side；Motor is used to rotate forward when receiving the brake signal from controller, drives band tooth pressure bar compacting brake pedal girder,
With abrupt deceleration vehicle；Motor is additionally operable to invert when receiving the brake release signal from controller, drives band tooth pressure bar remote
Brake pedal girder, so that vehicle releases braking.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 7th of first aspect kind, wherein, system
Dynamic actuator includes the electromagnetism two-way proportional valve for being arranged at former car brakes；Electromagnetism two-way proportional valve is used to come from receiving
Opened during the brake signal of controller, former car brakes is produced air pressure, with abrupt deceleration vehicle；Electromagnetism two-way proportional valve is additionally operable to
Closed when receiving the brake release signal from controller, stop supplying for former car brakes, so that vehicle releases system
It is dynamic.
Second aspect, the embodiment of the present invention also provide a kind of control method of vehicle safety accessory system, and vehicle safety is auxiliary
Auxiliary system includes：Controller, and be connected respectively with controller information acquisition unit, long distance radar, low coverage radar, warning
Device and brake actuator；Method is performed by controller, including：The status information of the vehicle of receive information collecting unit collection；Its
In, status information includes speed information, transmits information and braking information；According to status information to long distance radar and/or closely
Open signal or shutdown signal are sent away from radar；Long distance radar is received when receiving open signal, detection is with vehicle at a distance of pre-
If the first result of detection of the barrier generation in the first distance；Receive low coverage radar when receiving open signal, detection with
Second result of detection of barrier generation of the vehicle in default second distance；According to the first result of detection and the second detection knot
Fruit sends cue to attention device and sends brake signal to brake actuator, so that attention device is receiving cue
When issue the user with prompt message, and brake actuator active brake vehicle when receiving brake signal.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, closely
It is ultrasonic distance measuring radar away from radar, long distance radar is millimetre-wave radar；Wherein, the quantity of ultrasonic distance measuring radar is multiple,
The quantity of millimetre-wave radar is at least one；Method also includes：When speed information is more than zero, and transmits information to be preceding to row
When sailing, radar is opened before control；Wherein, preceding radar includes being arranged at the ultrasonic distance measuring radar and milli at the front bumper of vehicle
Metre wave radar；When speed information is more than zero, and transmits information is travels backward, radar is opened after control；Wherein, rear thunder
Up to the ultrasonic distance measuring radar including being arranged at the rear bumper of vehicle；The first vehicle speed value is preset when speed information is less than, OK
Directional information is sailed as left steering and traveling ahead to the left, and when steering angle is more than the first preset angle angle value, control left front radar,
Left back radar and preceding radar are opened；Wherein, left front radar and left back radar include the left side steering front wheel for being respectively arranged at vehicle
The ultrasonic distance measuring radar of row wheel side behind side and left side；When speed information is less than default second vehicle speed value, transmits information
Traveling ahead for right turn and to the right, and when steering angle is more than the second preset angle angle value, radar before control is right, it is right after radar and
Preceding radar is opened；Wherein, radar and radar behind the right side include being respectively arranged at the right side steering front wheel side and right side of vehicle before the right side
The ultrasonic distance measuring radar of row wheel side afterwards；When speed information is less than default 3rd vehicle speed value, transmits information is left steering
And behind to the left, and when steering angle is more than the 3rd preset angle angle value, control right preceding radar, left back radar and rear radar are opened
Open；When speed information is less than default 4th vehicle speed value, transmits information be right turn and to the right behind when, and steering angle
When degree is more than the 4th preset angle angle value, radar and the unlatching of rear radar behind left front radar, the right side are controlled；When speed information is more than default the
Five vehicle speed values, and when transmits information is left steering, control left front radar, left back radar to open；When speed information is more than in advance
If the 6th vehicle speed value, and when transmits information is right turn, radar before control is right, it is right after radar open；When speed information is big
In default 7th vehicle speed value, and when transmits information is reverse travel, control brake actuator performs deceleration-operation to vehicle.
The embodiments of the invention provide a kind of vehicle safety accessory system and its control method, the vehicle safety accessory system
Including controller, information acquisition unit, long distance radar, low coverage radar, attention device and brake actuator.Controller is adopted by information
Collect the status information that unit obtains vehicle, so as to control the open and-shut mode of long distance radar and low coverage radar, when long distance radar and closely
When being opened away from radar and generating corresponding result of detection, controller can control attention device prompting user according to result of detection, or
Person controls brake actuator abrupt deceleration vehicle, so as to preferably realize safe miscellaneous function.Above-mentioned vehicle safety accessory system can be with
After be installed on vehicle, without changing primary car structure, cost is relatively low；In addition, pass through long distance radar and this combination of low coverage radar
Set-up mode, vehicle periphery barrier can be preferably detected, further improve the reliability of safety assisting system, effectively
Improve travel safety.
Further, long distance radar and low coverage radar can be set multiple in the diverse location of vehicle, so as to realize vehicle week
The detection of the comprehensive barrier in side, further improve the reliability of above-mentioned safety assisting system.
Other feature and advantage of the disclosure will illustrate in the following description, or, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or the above-mentioned technology by implementing the disclosure can be learnt.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows a kind of structural representation for vehicle safety accessory system that the embodiment of the present invention is provided；
Fig. 2 shows the structural representation for second of vehicle safety accessory system that the embodiment of the present invention is provided；
Fig. 3 shows the structural representation for the third vehicle safety accessory system that the embodiment of the present invention is provided；
Fig. 4 shows a kind of control method flow chart for vehicle safety accessory system that the embodiment of the present invention is provided.
Icon：
10- controllers；20- information acquisition units；21- car light signal wires；22- onboard diagnostic systems；
23- acceleration transducers；24- face recognition camera devices；25- braking signal switches；
30- long distance radars；Long distance radar before 30e-；40- low coverage radars；The left front radars of 40a-；
The left back radars of 40b-；Radar before the 40c- right sides；Radar behind the 40d- right sides；Low coverage radar before 40e-；
Low coverage radar after 40f-；50- attention devices；60- brake actuators；70- wire harness；80- storage batterys.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is part of the embodiment of the present invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
Current vehicle safety accessory system needs to change primary car structure mostly, and cost is higher and reliability is poor, is based on
This, the embodiments of the invention provide a kind of vehicle safety accessory system and its control method, the vehicle safety accessory system can be with
After be installed on vehicle, the technology can use corresponding software or hardware to realize.The embodiment of the present invention is carried out below detailed
Introduce.
Embodiment one：
A kind of vehicle safety accessory system is present embodiments provided, the vehicle safety accessory system is used to be installed on vehicle
On, referring specifically to a kind of structural representation of vehicle safety accessory system shown in Fig. 1, including：Controller 10, and respectively with
Information acquisition unit 20, long distance radar 30, low coverage radar 40, attention device 50 and the brake actuator 60 that controller 10 is connected；
Information acquisition unit 20 is used for the status information of collection vehicle, and status information is sent to controller 10；Wherein,
Status information includes speed information, transmits information and braking information；Transmits information can include preceding to traveling, reversing
Traveling, it is preceding turn left, it is preceding turn right, after turn left, after turn right；
Controller 10 is used to send open signal or closing to long distance radar 30 and/or low coverage radar 40 according to status information
Signal；
Long distance radar 30 is used for when receiving open signal, obstacle of the detection with vehicle in default first distance
Thing, the first result of detection is generated, and the first result of detection is sent to controller；
Low coverage radar 40 is used for when receiving open signal, obstacle of the detection with vehicle in default second distance
Thing, the second result of detection is generated, and the second result of detection is sent to controller；
Controller 10 be additionally operable to according to the first result of detection and the second result of detection to attention device 50 send cue with
And send brake signal to brake actuator 60；
Attention device 50 is used for when receiving cue, issues the user with prompt message；Specifically, attention device can be adopted
Realized with early warning loudspeaker or voice announcer.Such as, when long distance radar or low coverage detections of radar are to barrier, attention device can
To report the range information for the barrier that vehicle occurs with direct of travel to driver with speech form, to realize distance prompt work(
Energy；When needing anti-collision early warning, manual operation vehicle is sent to avoid barrier to driver with the alert ring sound such as " tick, tick, tick "
Or the prompting of abrupt deceleration vehicle；It is of course also possible to prompt driver by way of voice broadcast, will not be repeated here.
Brake actuator 60 is used for when receiving brake signal, active brake vehicle.
Above-mentioned vehicle safety accessory system provided in an embodiment of the present invention includes controller, information acquisition unit, long distance thunder
Reach, low coverage radar, attention device and brake actuator.Controller obtains the status information of vehicle by information acquisition unit, so as to
The open and-shut mode of long distance radar and low coverage radar is controlled, when long distance radar and low coverage radar are opened and generate corresponding result of detection
When, controller can control attention device prompting user, or control brake actuator abrupt deceleration vehicle according to result of detection, so that compared with
Good realizes safe miscellaneous function.Above-mentioned vehicle safety accessory system is simple in construction, in the case where not influenceing any behavior pattern of former car
It can be installed in later on vehicle, without changing primary car structure, cost is relatively low；It is in addition, this by long distance radar and low coverage radar
Combination settings mode, vehicle periphery barrier can be preferably detected, further improve the reliability of safety assisting system,
Effectively increase travel safety.Therefore can be with widely available installation in major, medium and small passenger car, commercial car and spy
On kind vehicle.Above-mentioned vehicle safety accessory system can be not only installed on vehicle later, form the additional accessory system of vehicle；Vapour
The vehicle safety accessory system can also be installed on vehicle by depot business in advance directly before automobile dispatches from the factory, and form vehicle is
System part.The vehicle safety accessory system is either preceding to install still rear installation additional, can preferably meet automobile vendor
And the actual demand of car owner so that the application of the vehicle safety accessory system is more flexibly convenient.
In actual applications, the controller in above-mentioned vehicle safety accessory system, information acquisition unit, long distance radar, near
The diverse location that can be flexibly laid in away from radar, attention device and brake actuator in car body, can also combine laying, such as will
Attention device and controller, which are combined, to be arranged in car body, and brake actuator is arranged at automobile brake pedal girder top etc., herein
Repeat no more.It can be that controller sets the shell for protecting the controller, opening of being connected with controller is provided with shell
The function buttons such as close button, in order to manually carry out being turned on and off controlling to vehicle safety accessory system, and carry out corresponding
Function selection, i.e. selection enables or disables specific function in the system.In addition, in order to which structure is simplified, attention device can also
It is set along with controller in housing.
Specifically, the present embodiment gives a kind of working method of attention device：Appoint when controller recognizes Ben Che with traveling
Where to the barrier of appearance be less than default safe distance when, triggering attention device sends the yowl early warning of " ticking ", reminds driver
Artificially actively avoid barrier or brake this car；When controller, which recognizes driver, is in fatigue driving state, triggering warning
Device voice broadcast " Don't Drive When Tired " information warning, driver safety is reminded to drive vehicle；When controller recognizes vehicle system
When dynamic lamp continuous lighting time exceedes setting value, attention device voice broadcast " brakes please be check " information warning is triggered, is reminded
Driver checks the brakes of vehicle；Continue lighting time more than setting when controller recognizes vehicle either side steering indicating light
During value, attention device voice broadcast " steering indicating light please be close " information warning is triggered, reminds driver to operate vehicle with caution.Certainly, with
On be merely illustrative, be not construed as limiting.The information warning of attention device can be carried out in actual applications flexible
Adjustment, will not be repeated here.
In actual applications, above-mentioned low coverage radar can use ultrasonic distance measuring radar, and long distance radar can use millimeter
Ripple radar.Wherein, millimetre-wave radar be responsible for front, barrier detects farther out；Ultrasonic radar is then responsible for travelling vehicle
The barrier of direction closer distance is detected.
Multiple ultrasonic distance measuring radars and millimetre-wave radar can be laid according to demand and on vehicle, what radar was laid
Place can flexibly be set, and be such as laid in above the left side steering front wheel of vehicle, driving wheel top, right side front steering behind left side
Driving wheel top behind wheel top and right side, and be laid at the front bumper of vehicle or at rear bumper, it is complete so as to reach
The effect of orientation detection vehicle body peripheral obstacle.Certainly, above-mentioned radar can be also laid with the left side of vehicle body and right side, herein not
Repeat again.
Radar in the present embodiment is distance measuring sensor, and it is that can not meet car to carry out detection only with a kind of distance measuring sensor
Detection to barrier under varying environment, speed travel situations identifies what is needed, only senses the ranging of different qualities
Device (long distance radar and low coverage radar that such as the present embodiment provides) is combined and applied on automobile, and according to running car ring
Border, direction and speed change and make the various distance measuring sensor division of labor, timesharing, work to point position, could preferably meet automobile
To security needs, at the same time it can also substantially reduce cost, be advantageous to market popularization.
The brake actuator that the present embodiment provides is mainly used in realizing the active brake of vehicle, tool in the presence of controller
Body, following two modes can be used：
Mode one：Brake actuator includes motor and the band tooth pressure bar being connected with motor；Wherein, brake actuator is fixed on
The brake pedal girder side of vehicle；It is installed at specifically by fixture above automobile brake pedal girder.
Motor is used to rotate forward when receiving the brake signal from controller, drives band tooth pressure bar compacting brake pedal master
Beam, with abrupt deceleration vehicle；
Motor is additionally operable to invert when receiving the brake release signal from controller, drives band tooth pressure bar away from braking
Pedal girder, so that vehicle releases braking.
Mode two：Brake actuator includes the electromagnetism two-way proportional valve for being arranged at former car brakes；
Electromagnetism two-way proportional valve is used to open when receiving the brake signal from controller, produces former car brakes
Anger pressure, with abrupt deceleration vehicle；
Electromagnetism two-way proportional valve is additionally operable to close when receiving the brake release signal from controller, stops as former car
Brakes supplies, so that vehicle releases braking.
When it is implemented, appeal electromagnetism two-way proportional valve can include the electromagnetic proportional valve and two-way valve of interconnection.Electromagnetism is double
Can be to the course of work of proportioning valve：After electromagnetic proportional valve is opened, compressed gas can just be entered to by the electromagnetic proportional valve
Two-way valve, the relay valve or quick release valve of former car brakes are entered back into, so that the brakes of vehicle performs braking workmanship.
That is, by opening electromagnetic proportional valve, the gas of former car auxiliary inflator is made by electromagnetic proportional valve, then via two-way valve so that it is former
Car brakes produces air pressure, so as to abrupt deceleration vehicle.If closing electromagnetic proportional valve, then braking is released.Wherein, inflator is aided in
Standby inflator is can be described as, is generally disposed on the vehicle for implementing braking using air pressure as braking energy source.
In summary, above-mentioned vehicle safety accessory system provided in an embodiment of the present invention, utilizes compound transducer (low coverage
Radar and long distance radar) ranging technology that is combined, when automobile is under varying environment, speed and direction running state, adaptively
Barrier is carried out scientifically and rationally to detect, identified, when the vehicle equipped with above-mentioned vehicle safety accessory system goes out with travel direction
When existing barrier has the dangerous situation to collide, the system can be with automatic alarm, Braking mode, the hair of active collision free accident
It is raw.The system not only meet risk of collision can with automatic alarm, Braking mode, can also have speed control and fatigue driving,
The functions such as doubling auxiliary prompting.
Embodiment two：
On the basis of previous embodiment, another vehicle safety accessory system is present embodiments provided, for details, reference can be made to
The structural representation of second of vehicle safety accessory system shown in Fig. 2, on the basis of Fig. 1, information acquisition unit 20 includes
Car light signal wire 21, onboard diagnostic system 22, acceleration transducer 23, face recognition camera device 24 and braking signal switch
25.In actual applications, therein a variety of be combined can be selected.
Car light signal wire 21 is used for the braking information and transmits information for detecting vehicle.In actual applications, car light is believed
Number line includes more, the signal wire being respectively connected with each lamp of vehicle.
Because the state of car light can preferably reflect the state of vehicle, when such as vehicle is turned left, left direction signal lamp point
Bright, similarly, other steering indicating lights can also be lighted in corresponding turn to；During vehicle backing, back-up lamp is lighted；When vehicle brake is braked,
Brake lamp is lighted；Car light signal wire can collect the state of the various lamps of vehicle, and controller is so as to knowing the braking information of vehicle
And transmits information.The reversing gear job information of recognizable vehicle when the back-up lamp signal wire of controller and vehicle connects,
When back-up lamp is lighted, controller sends open signal to the radar positioned at tail of the body bumper position, makes it start to detect
Work.Further, it is described in detail by taking the left and right turn modulating signal that controller is connected in car light signal wire as an example, works as left steering
Signal lamp is lighted, and controller is identified as vehicle and is in the left or will implement to the left steering, doubling or transport condition of overtaking other vehicles；Work as the right side
Turn signal lamp is lighted, and controller is identified as vehicle and is in the right or will implement to the right steering, doubling or transport condition of overtaking other vehicles.
In addition, connection left and right turn signal also has other effects, using long distance radar as millimetre-wave radar, low coverage radar is ultrasound
Illustrated exemplified by ripple radar, such as：
(1) automatic shield function：When Vehicle Speed be more than 10 kilometers/hour (vehicle be less than or equal to 10 kilometers/it is small
When be ultrasonic radar work scope, now open turning indicator control be that will not shield the automatic report of vehicle safety accessory system
It is alert, Braking mode function), driver's unlocking vehicle pole changer, vehicle is taken or steering, doubling will be taken or overtaken other vehicles
During operation, as long as the steering indicating light of any direction is lighted, vehicle safety accessory system can shield the detection of millimetre-wave radar immediately, no
Automatic alarm, Braking mode function can be triggered.
(2) auto restore facility：Turning indicator control resets or steering indicating light extinguishes, and millimetre-wave radar returns to initialization
State.
Onboard diagnostic system 22 is used for the speed information and vehicle steering angle information for detecting vehicle.Onboard diagnostic system is
It is the common configuration on vehicle, the information such as speed can be known, specifically can refer to correlation technique realization, will not be repeated here.This
The vehicle safety accessory system that embodiment provides, the onboard diagnostic system of former car can also be directly applied, by being drawn from controller
The signal wire of onboard diagnostic system is connected, so as to read speed information from onboard diagnostic system.In addition, controller can also be from
Wheel steering direction and the steering angle information of vehicle are obtained in onboard diagnostic system, specifically, also can be by obtaining direction
The rotation direction of disk and realize.The vehicle safety accessory system that the present embodiment provides, can specifically draw car from controller
Diagnostic system terminals and onboard diagnostic system connecting line are carried, is directly connected using connecting line in the onboard diagnostic system of former car
.
Acceleration transducer 23, for detecting the transmits information and ramp angles information of vehicle.The travel direction is believed
Breath can include preceding to traveling or reverse travel；By ramp angles information, can know vehicle be in upward slope state or
Descending state.In order that structure is simplified, the acceleration transducer can be arranged to integral structure with controller, such as be built in
In controller shell body, or it is combined with controller, without considering the problem of separately installed.The acceleration transducer can be with
Realize that, when being configured with the acceleration transducer, controller need not connect former car using the automotive grade sensor in correlation technique
Gear signal can accurately recognize the direct of travel of vehicle, can also identify road conditions, that is to say level road still go up a slope, under
Slope.Just because of there is the acceleration transducer, no matter driver's extension forward gear moves forward or hung reverse gear travels backward, or
Person's vehicle be on ramp occur neutral gear forward, when slipping by slope backward, controller can correctly identify vehicle travel direction or
Direction is slipped by slope, is easy to controller to open respective direction radar and barrier is implemented to detect, so as to provide correct row for controller
Enter the range information of the barrier in direction, be follow-up warning reminding, brake anticollision provides foundation, substantially increases system
Security.
Face recognition camera device 24, for gathering the facial information of driver, determine driver's according to facial information
Degree of fatigue, and degree of fatigue is sent to controller 10；Controller 10 is used for when speed information is higher than preset vehicle speed value, opens
Open face recognition camera device 24, be additionally operable to according to face recognition camera device 24 generate degree of fatigue control attention device to
Family sends prompt message, and control brake actuator abrupt deceleration vehicle in a manner of a brake.In actual applications, can be it is determined that driving
During the person's of sailing fatigue driving, first pass through attention device by blow a whistle or voice etc. in a manner of warn user, then take a brake mode abrupt deceleration vehicle,
So that driver regains consciousness.Specifically, face recognition camera device mainly includes camera, the held is in can in car body
Photograph the position of driver's face.The preset vehicle speed value can flexibly be set, and such as be set as 60 kilometers/hour.Namely work as
Speed is higher than 60 kilometers/hour, and camera is started working, and fatigue driving state is in when recognizing user (namely driver)
When, can trigger siren alarm and Braking mode prompting function, due to fatigue drive prompting only vehicle speed be more than etc.
Work is just intervened in 60 kilometers/hour, under so high vehicle speed condition, the mode of moment point brake prompting, vehicle will not be caused
It is obvious to slow down, front vehicle will not more be impacted, wherein, Braking mode, which is reminded, to be carried in a manner of moment point is stopped
Wake up, so can both realize the purpose of prompting, front vehicle will not be travelled again and bring influence, preferably slow down in fatigue
Potential safety hazard of the driver of state in scorch.
Above-mentioned face recognition camera device is applied in vehicle safety accessory system, this vehicle safety auxiliary system can be made
The point braking function of system is effectively applied.At present, the mode for the fatigue drive prompting applied on automobile, except passing through voice reporting
Alert remind outside driver, some vehicles can also remind driver with steering wheel shake, and warning reminding can be easily
Realize, but steering wheel shake prompting function is realized in automobile factory, and market is filled after and realizes this function at present also
It is unrealistic.Tired reminding technology provided in an embodiment of the present invention then make use of this function of Braking mode well, when passing through face
When portion's identification camera device recognizes driver and is in fatigue driving state, in addition to it can be reminded in a manner of audio alert,
It can also be braked with moment, that is, the mode for putting brake promotes driver to discover moment the further prompting of driver's implementation
And regain consciousness, substantially increase traffic safety.
Braking signal switch 25, the braking information for collection vehicle；Controller 10 is used to detect brake signal
When lamp switch is connected by manual control, shutdown signal is sent to long distance radar and low coverage radar；This mode can detect driving
Member taken the initiative brake measure when barrier will not be detected by radar again, taken to prevent vehicle safety accessory system
Repeat unnecessary measure (automatic alarm, Braking mode etc.) and be that driver brings interference.Certainly, send and close to radar
Signal is closed, in specific application or controller shields the detection of radar, namely does not receive the detection knot of radar transmission
Fruit, prompting and brake finger either are sent to attention device 50 and brake actuator 60 without processing or no longer to result of detection
Order.
Controller 10 is additionally operable to the opening and closing shape according to result of detection and/or degree of fatigue control braking signal switch
State, to remind front vehicle to maintain safe distance.Determine that the barrier that vehicle occurs with front is less than according to result of detection specifically, working as
Safe space between motorcars, controller is while attention device progress warning reminding is triggered, the braking of controller meeting turn on automatically vehicle
Signal lamp switch, former car stop, tail and number plate light is set to be lighted in advance before vehicle is not braked, to remind front vehicle to pay attention to keeping car
Away from preventing when implementing Braking mode in the later stage, cause because front vehicle is excessively near with car by the accident of hitting.When according to fatigue
When degree determines that driver is currently at fatigue driving state, to remind, driver's is same in triggering attention device alarm for controller
When, stop, tail and number plate light can also be lighted by braking signal switch, to remind front vehicle to keep running distance, so as to have
Effect prevents that during driver is reminded by a brake mode front vehicle knocks into the back this car.It is above-mentioned according to result of detection and/or
The open and-shut mode of the degree of fatigue control braking signal switch, lights the mode of stop, tail and number plate light in advance, can be effectively pre-
Anti-car rear-end.
In summary, above-mentioned vehicle safety accessory system provided in an embodiment of the present invention, in the car that previous embodiment provides
On the basis of safety assisting system, can also be stopped by the moment of face recognition camera device and brake actuator point operation and
With preferable fatigue drive prompting function, braking prompting function is realized by braking signal switch, to prevent car rear-end.
Embodiment three：
In the present embodiment, for the vehicle safety accessory system of previous embodiment offer, a kind of specific vehicle peace is proposed
Full accessory system, the structural representation of the third vehicle safety accessory system shown in Fig. 3 is for details, reference can be made to, is shown in vehicle
Controller 10, the brake actuator 60 of upper laying, while also show left side steering front wheel side, the left side for being respectively arranged at vehicle
Afterwards the left front radar 40a of row wheel side behind row wheel side, right side steering front wheel side and right side, left back radar 40b, it is right before radar
Radar 40d behind 40c and the right side, further it is shown that be arranged at four at the front bumper of vehicle preceding low coverage radar 40e, be arranged at car
Rear bumper at four after low coverage radar 40f；Before also show the front bumper center for being arranged at vehicle one
Long distance radar 30e.Wherein, the preceding radar described in previous embodiment includes preceding low coverage radar and/or preceding long distance radar, that is, preceding
Low coverage radar and preceding long distance radar can be considered preceding radar.In addition, Fig. 3 also illustrates the wire harness 70 for connecting each radar simultaneously, this
Outside, in order to make it easy to understand, also show the storage battery 80 for being powered for vehicle safety accessory system.The storage battery is preferably former car electricity
Bottle, each equipment in vehicle safety accessory system can be by controllers from former automobile battery power taking.It is of course also possible to from vehicle
Other electric power system power takings, or be individually for vehicle safety Auxiliary System power supply, will not be repeated here.In order to clearly show
Meaning, Fig. 3 shows controller 10 and brake actuator 60, but controller 10 and the essence of brake actuator 60 are arranged at car body
It is interior；In order that figure is more succinct, miscellaneous equipment (such as attention device, face recognition the shooting dress included by vehicle safety accessory system
Put) it is not shown in the figure.
Specifically, the low coverage radar in the present embodiment is ultrasonic distance measuring radar, long distance radar is millimetre-wave radar；Ultrasound
The quantity of ripple range radar is multiple, be respectively set to above driving wheel behind the left side steering front wheel top of vehicle, left side,
The left front radar of driving wheel top above right side steering front wheel and behind right side, left back radar, it is right before radar behind radar and the right side,
And the preceding radar at the front bumper of vehicle and the rear radar at rear bumper；The quantity of millimetre-wave radar is at least
For one, the preceding radar at the front bumper of vehicle is set at least to.
Preceding radar in the present embodiment both includes ultrasonic distance measuring radar, includes millimetre-wave radar again, so as to fully right
Front obstacle is detected.Certainly, the other positions of vehicle can also combination settings ultrasonic distance measuring radar and millimeter wave thunder
Reach, will not be repeated here.Such as, when for oversize vehicle, can easily be crashed according to vehicle body surrounding is each
The area size of the point of impingement and freely configure the quantity of radar, prevent oversize vehicle because vehicle body is wide, long and detection blind area occur,
So as to reduce collision probability.
The present embodiment is using long distance radar and low coverage radar (such as using ultrasonic radar and millimetre-wave radar) collaboration work
The mode of work, can not only solve the obstacle detection in the range of different distance, can also be solved according to the characteristic of different radars
Certainly vehicle is in the detection demand of the different speed stages to barrier such as low speed, high speed.Wherein, ultrasonic radar cost is relatively low,
When car speed is less than or equal to 10 kilometers/hour, the identification needs to barrier in short range can be met；Millimeter wave thunder
Dyne its good detection performance, can work, why the present embodiment uses millimeter as needed in the case of any vehicle speed value
Ripple radar, be because：(1) detection range is longer, and general detection range disclosure satisfy that automobile in high speed row between 30m-200m
Sail under speed to compared with the obstacle recognition needs in far range；(2) detection performance is stable, can not be by testee surface
The influence of shape, color etc.；(3) environmental suitability is good, has a very strong penetration capacity, its range accuracy by rain, snow, mist,
The influence of the environment such as the bad weathers such as airborne dust and strong light, clutter, noise is smaller, preferably improves vehicle in poor environment downward driving
Security, full-scope safeguards traffic safety.
And above-mentioned vehicle safety accessory system row wheel side, right side forward behind the left side steering front wheel side of vehicle body, left side
Row wheel side and front bumper side and rear bumper side are mounted on low coverage radar and/or long distance after to wheel side and right side
The reason for radar, is as follows：
For vehicle when running at a low speed, collision accident not only occurs on the front and dead astern of vehicle, works as large rotation angle
Steering wheel implements lateral movement, and also easily scratch the barrier arrived positioned at vehicle body both sides for vehicle both sides.Automobile is to left front row
When sailing, in addition to vehicle front is possible to collide with barrier, vehicle left side body forward structure and rear portion is also easily caused and obstacle
Thing collides；Similarly, when automobile is in traveling ahead to the right, in addition to vehicle front is possible to collide with barrier, car
Right side bodies are anterior and rear portion is also easily caused and collided with barrier；And when vehicle is gone to left back large angle side to reversing
When sailing, in addition to rear view of vehicle is possible to collide with barrier, vehicle right side body forward structure and left side body rear portion are also easily led
Cause collides with barrier；Similarly, when vehicle is to right back large angle side to reverse travel, except rear view of vehicle be possible to
Outside barrier collides, vehicle left side body forward structure and right side bodies rear portion are also easily caused and collided with barrier.To sum up
Described, vehicle is being run at a low speed, particularly park traveling when, its point of impingement is not only relevant with vehicle heading, also with vehicle
Steering direction, that is, the driving trace of vehicle is relevant.To realize comprehensive low speed traffic safety, it is necessary to which controller is intelligent
Change ground identification and processing, particularly radar detection, when large angle side is to reverse travel, it is necessary to according to the steering direction of vehicle and
The driving trace of vehicle body and be intelligently turned on and off the radar of region of interest, the barrier of direct of travel can implemented
While detection, the target with vehicle heading opposite location can also be masked, prevent by mistake detection trigger false-alarm or
Brake phenomenon by mistake, avoids bringing the normally travel of vehicle influence.
In summary, vehicle safety accessory system provided in an embodiment of the present invention, combined type Techniques of Radar Recognition (milli is utilized
Metre wave radar+ultrasonic radar), automobile is realized under different speeds, different directions transport condition, can be utilized and is installed at vapour
The millimetre-wave radar and ultrasonic radar of each position of the vehicle bodies such as car front, rear, left and right enter to the barrier of automobile direct of travel
Row ranging, identification.When vehicle safety accessory system, which recognizes Ben Che, is less than safe space between motorcars with barrier, system can be certainly
Dynamic alarm, remind driver that the collision free accident that actively takes measures occurs, will be chased after when recognizing Ben Che and barrier
Tail, reversing or side direction park collision accident when, vehicle safety accessory system can also take brake measure to vehicle automatically, from
And the generation of collision free accident, or the order of severity that accident occurs is preferably minimized.
Further, vehicle safety accessory system provided in an embodiment of the present invention can be gathered by face recognition camera device
The fatigue driving information of driver, can be in a manner of alarming and put brake when recognizing driver and being in fatigue driving state
Effectively remind driver；In addition to this it is possible to using the ultrasonic radar installed in vehicle both sides, vehicle is operated in driver
When implementing doubling traveling, vehicle body both sides barrier is detected, when meeting barrier, alarm can be carried out to driver and carried
Wake up, improve doubling safety；The system can also control this car speed of operation, prevent from exceeding the speed limit, and surpass when recognizing this car travel speed
It when crossing preset value, can not only be reminded with automatic alarm, reduction of speed can also be forced, particularly prevent driver due to maloperation (by mistake
By phenomenon of taking throttle as brake) caused by the too fast phenomenon of speed occur, farthest aid in driver to keep safe driving speed, carry
High traffic safety.
Example IV：
The vehicle safety accessory system provided for previous embodiment, a kind of vehicle safety shown in Figure 4 auxiliary system
The control method flow chart of system.Vehicle safety accessory system includes：Controller, and the information being connected respectively with controller are adopted
Collect unit, long distance radar, low coverage radar, attention device and brake actuator；Specifically, the vehicle safety accessory system can be applied
Foregoing any embodiment realizes that this method is performed by controller, including：
Step S402, the status information of the vehicle of receive information collecting unit collection；Wherein, status information is believed including speed
Breath, transmits information and braking information；
Step S404, open signal or shutdown signal are sent to long distance radar and/or low coverage radar according to status information；
Step S406, long distance radar is received when receiving open signal, detection is with vehicle in default first distance
Barrier generation the first result of detection；
Step S408, low coverage radar is received when receiving open signal, detection is with vehicle in default second distance
Barrier generation the second result of detection；
Step S410, cue is sent and to braking to attention device according to the first result of detection and the second result of detection
Actuator sends brake signal, so that attention device issues the user with prompt message when receiving cue, and braking is held
Row device active brake vehicle when receiving brake signal.
In actual applications, low coverage radar is ultrasonic distance measuring radar, and long distance radar is millimetre-wave radar；Wherein, it is ultrasonic
The quantity of ripple range radar is multiple, and the quantity of millimetre-wave radar is at least one；Controller can also and onboard diagnostic system
It is connected, to obtain steering angle information.
The above method is further comprising the steps of：
(1) when speed information is more than zero, and transmits information for it is preceding to traveling when, radar is opened before control；Wherein, it is preceding
Radar includes being arranged at the ultrasonic distance measuring radar and millimetre-wave radar at the front bumper of vehicle；Before wherein forward direction traveling includes
Slipped by slope to normally travel and forward direction.
(2) when speed information is more than zero, and transmits information is travels backward, radar is opened after control；Wherein, after
Radar includes being arranged at the ultrasonic distance measuring radar at the rear bumper of vehicle；Specifically, backward traveling includes normally falling backward
Car travels (automobile gear level is in reverse gear state), in addition to slips by slope backward.
(3) when speed information is less than default first vehicle speed value, transmits information is left steering and traveling ahead to the left, and
When steering angle is more than the first preset angle angle value, left front radar, left back radar and preceding radar is controlled to open；Wherein, left front radar
Include the ultrasonic distance measuring radar that is respectively arranged at row wheel side behind the left side steering front wheel side and left side of vehicle with left back radar；
(4) when speed information is less than default second vehicle speed value, transmits information is right turn and traveling ahead to the right, and
When steering angle is more than the second preset angle angle value, radar and preceding radar are opened behind radar, the right side before control is right；Wherein, radar before the right side
The ultrasonic distance measuring radar for being respectively arranged at row wheel side behind the right side steering front wheel side and right side of vehicle is included with radar behind the right side；
(5) when speed information is less than default 3rd vehicle speed value, transmits information is left steering and behind to the left, and
When steering angle is more than the 3rd preset angle angle value, control right preceding radar, left back radar and rear radar are opened；
(6) when speed information is less than default 4th vehicle speed value, transmits information be right turn and to the right behind when,
And steering angle is when being more than the 4th preset angle angle value, control left front radar, it is right after radar and rear radar open；
(7) when speed information is more than default 5th vehicle speed value, and transmits information is left steering, left front thunder is controlled
Reach, left back radar is opened；It is also understood that speed information is more than default 5th vehicle speed value, and left direction signal lamp is lighted, table
Show vehicle doubling to the left or doubling traveling will be implemented to the left, therefore, left front radar, left back radar work simultaneously.
(8) when speed information is more than default 6th vehicle speed value, and transmits information is right turn, thunder before control is right
Reach, radar is opened behind the right side；It is also understood that speed information is more than default 6th vehicle speed value, and right turn signal lamp is lighted, table
Show vehicle doubling to the right or doubling traveling will be implemented to the right, therefore, radar works simultaneously behind radar, the right side before the right side.
(9) when speed information is more than default 7th vehicle speed value, and transmits information is reverse travel, control braking is held
Row device performs deceleration-operation to vehicle.Such as, slipped by slope when controller recognizes vehicle in reverse travel or backward, when vehicle speed value is big
In 10 kilometers/hour, i.e., radar does not detect barrier after an action of the bowels, and system can also take vehicle drop in a manner of Braking mode
Fast measure, untill when this car vehicle speed value is reduced to 10 kilometers/hour or less.Automobile is in parking lot, cell and downtown area
When area's traveling, especially reverse travel, due to car, more people are more, it is necessary to reverse travel speed are controlled by, to prevent from meeting car
Rear closely emergent barrier when, driver's reaction causes the generation of collision accident not in time.Therefore work as and drive
The person of sailing is because maloperation (by mistake by phenomenon of taking throttle as brake) or other reasons cause to move backward vehicle speed value more than 10 kilometers/hour, the vehicle
Safety assisting system can take vehicle deceleration measure immediately, until after vehicle speed value is less than 10 kilometers/hour, and supervised by radar
In the case of measuring rear view of vehicle and there is no barrier, the reduction of speed measure to vehicle is automatically terminated.
In actual applications, the first vehicle speed value to the 4th vehicle speed value can be set as the same, be such as set as 10 kilometers/
Hour；Different values can certainly be set,；5th vehicle speed value and the 6th vehicle speed value are such as set as can be set as
60 kilometers/hour, naturally it is also possible to set different values.
It is able to can also be passed through by the pole changer of direct unlocking vehicle specifically, steering angle exceedes preset angle angle value
Artificially realize this function.
In addition, the left and right travel direction of identification vehicle can obtain from onboard diagnostic system, but work as and can not therefrom obtain
When, the left and right turn direction of vehicle can be identified by the switching of the left or right pole changer of vehicle.
Above-mentioned (7) and (8) are mainly useful doubling miscellaneous function, namely when controller passes through left front radar, left back thunder
Reach, or radar before the right side, it is right after the barrier that occurs with both sides of radar identification vehicle when being less than safe distance, attention device report can be triggered
Alert (doubling miscellaneous function only triggers alarm, will not trigger braking), to remind the careful doubling of driver, safe driving.Driving
When member's operation vehicle implements left or right doubling, the barrier of actual doubling side is detected, gone out when detecting doubling direction
During existing barrier, driver's careful driving can be reminded in a manner of alarm immediately, with safe doubling.Doubling of the present invention is auxiliary
Help, be to utilize ultrasonic radar involved in the present invention, automobile both sides barrier is identified, without separately adding other sensors
Doubling miscellaneous function can be achieved.It should be noted that：To prevent the isolation strip of vehicle body both sides, guardrail or other stationary objects from leading
False alarm phenomenon is caused to occur, when the object that above-mentioned vehicle safety accessory system only recognizes vehicle both sides is mobile object,
Doubling alarm can be triggered.
By above-mentioned (1)~(8), vehicle safety accessory system can be targetedly corresponding on unlocking vehicle diverse location
Radar detected, it is comprehensive to realize full side so as to being detected when needed using the radar of relevant position in reasonable and orderly manner
Position obstacle detection only makes the radar of relevant position work when needed to lift travel safety, can not only make control
The information that device processed handles corresponding radar is more precisely quick, improves the promptness of safety assisting system, and preferably evade
False alarm, the generation of braking by mistake, while decrease the consumption that equipment long-term work is brought.Controlled and moved backward by above-mentioned (9)
Travel speed, reversing speed limiting function can be preferably realized, not only can effectively prevent closely occurring suddenly in rear view of vehicle
Barrier, driver react the generation of caused collision accident not in time when back-up speed is higher, it is possibility to have effect abatement is driven
The potential safety hazard that the person of sailing brings the maloperations such as phenomenon of taking throttle as brake in reversing process.
In addition, the vehicle safety accessory system that the present embodiment provides is as the safety applied on an automobile auxiliary dress
Put, meeting, observation of the driver to barrier is inconsiderate, or leads to not cognitive disorders thing for visibility is relatively low, or meets tired
Please sail, slow in reacting and operational error when, necessary prompting can be given to driver or in a manner of Braking mode, it is maximum
Degree collision free accident occur, improve traffic safety, but be used as a safety aid, can be to vehicle in driver
When implementing active control, driver should not be interfered too much or influence operation of the driver to vehicle, therefore want energy when necessary
It is active operation behavior to some of vehicle enough to identify driver, is such as overtaken other vehicles, doubling or braking.The car that the present embodiment provides
Safety assisting system is thought and objects ahead low coverage due to can be connected with the car light signal wire of former car when driver operates vehicle
From approaching, when implementation proximity is overtaken other vehicles, as long as opening the steering indicating light in direction of overtaking other vehicles, above-mentioned vehicle safety accessory system can shield immediately
Preceding radar is covered, stops detection, or controller no longer sends prompting and braking instruction, does not interfere this operation of driver, avoids
There is false alarm, particularly brake by mistake and influence the normally travel of vehicle and nearby vehicle；Pass through former car car light signal wire
Brake signal is detected, when driver recognizes risk of collision, and artificially actively takes brake measure to vehicle, vehicle
Safety assisting system is recognized after vehicle brake lamp lights, and radar before shielding immediately, stops detection, avoids causing and driver
This car is braked simultaneously, cause confusion situation.
Further, above-mentioned vehicle safety accessory system is simple in construction, under not influenceing any behavior pattern of former car can after
It is installed on vehicle, without changing primary car structure, cost is relatively low；In addition, set by this combination of long distance radar and low coverage radar
Mode is put, vehicle periphery barrier can be preferably detected, further improve the reliability of safety assisting system, effectively carry
High travel safety.Therefore can be with widely available installation in major, medium and small passenger car, commercial car and special vehicle
On.The vehicle safety accessory system can be not only installed on vehicle later, form the additional accessory system of vehicle；Automobile vendor
The vehicle safety accessory system can be installed on vehicle in advance directly before automobile dispatches from the factory, form the system composition portion of vehicle
Point.The vehicle safety accessory system is either preceding to install still rear installation additional, can preferably meet automobile vendor and car owner
Actual demand so that the application of the vehicle safety accessory system more flexibly it is convenient.
The computer program product of a kind of vehicle safety accessory system and its control method that the embodiment of the present invention is provided,
Computer-readable recording medium including storing program code, the instruction that described program code includes can be used for performing above side
Method described in method embodiment, specific implementation can be found in embodiment of the method, will not be repeated here.
In addition, in the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, it is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of vehicle safety accessory system, it is characterised in that the vehicle safety accessory system is used to be installed on vehicle, wraps
Include：Controller, and be connected respectively with the controller information acquisition unit, long distance radar, low coverage radar, attention device and
Brake actuator；
Described information collecting unit is used for the status information for gathering the vehicle, and the status information is sent to the control
Device；Wherein, the status information includes speed information, transmits information and braking information；
The controller is used to send open signal to the long distance radar and/or the low coverage radar according to the status information
Or shutdown signal；
The long distance radar is used for when receiving the open signal, and detection is with the vehicle in default first distance
Barrier, the first result of detection is generated, and first result of detection is sent to the controller；
The low coverage radar is used for when receiving the open signal, and detection is with the vehicle in default second distance
Barrier, the second result of detection is generated, and second result of detection is sent to the controller；
The controller is additionally operable to be sent to the attention device according to first result of detection and second result of detection and carried
Show signal and send brake signal to the brake actuator；
The attention device is used for when receiving the cue, issues the user with prompt message；
The brake actuator is used for when receiving the brake signal, vehicle described in active brake.
2. system according to claim 1, it is characterised in that the low coverage radar is ultrasonic distance measuring radar, described remote
It is millimetre-wave radar away from radar；
The quantity of the ultrasonic distance measuring radar is multiple, is respectively set to positioned at left side steering front wheel side, the left side of the vehicle
The left front radar of row wheel side behind row wheel side, right side steering front wheel side and right side behind side, left back radar, it is right before radar and
Radar behind the right side, and the preceding radar at the front bumper of the vehicle and the rear radar at rear bumper；
The quantity of the millimetre-wave radar is at least one, sets at least to the preceding thunder at the front bumper of the vehicle
Reach.
3. system according to claim 1, it is characterised in that described information collecting unit includes car light signal wire and vehicle-mounted
Diagnostic system；
The car light signal wire is used for the braking information and transmits information for detecting the vehicle；
The onboard diagnostic system is used for the speed information and steering angle information for detecting the vehicle.
4. system according to claim 1, it is characterised in that described information collecting unit also includes acceleration transducer,
For detecting the transmits information and ramp angles information of the vehicle.
5. the system according to claim 3 or 4, it is characterised in that described information collecting unit is also taken the photograph including face recognition
As device；The face recognition camera device is used for the facial information for gathering the user, and institute is determined according to the facial information
The degree of fatigue of user is stated, and the degree of fatigue is sent to the controller；
The controller is used for when the speed information is higher than preset vehicle speed value, opens the face recognition camera device, also
The degree of fatigue for being generated according to the face recognition camera device controls the attention device to be sent to the user and carried
Show that information, and the control brake actuator brake the vehicle in a manner of a brake.
6. system according to claim 5, it is characterised in that described information collecting unit is also opened including stop, tail and number plate light
Close, for gathering the braking information of the vehicle；
The controller is used for when detecting that the braking signal switch is connected by manual control, to the long distance radar and
The low coverage radar sends shutdown signal；
The controller is additionally operable to control the braking signal switch according to the result of detection and/or the degree of fatigue
Open and-shut mode, to remind front vehicle to maintain safe distance.
7. system according to claim 1, it is characterised in that the brake actuator include motor and with the motor phase
Band tooth pressure bar even；Wherein, the brake actuator is fixed on the brake pedal girder side of the vehicle；
The motor is used to rotate forward when receiving the brake signal from the controller, drives the band tooth pressure bar compacting institute
Brake pedal girder is stated, to brake the vehicle；
The motor is additionally operable to invert when receiving the brake release signal from the controller, drives the band tooth pressure bar
Away from the brake pedal girder, so that the vehicle releases braking.
8. system according to claim 1, it is characterised in that the brake actuator includes being arranged at former car brakes
Electromagnetism two-way proportional valve；
The electromagnetism two-way proportional valve is used to open when receiving the brake signal from the controller, makes the former car system
Dynamic system produces air pressure, to brake the vehicle；
The electromagnetism two-way proportional valve is additionally operable to close when receiving the brake release signal from the controller, stop be
The former car brakes supply, so that the vehicle releases braking.
9. a kind of control method of vehicle safety accessory system, it is characterised in that the vehicle safety accessory system includes：Control
Device, and the information acquisition unit, long distance radar, low coverage radar, attention device and the braking that are connected respectively with the controller are held
Row device；Methods described is performed by the controller, including：
Receive the status information of the vehicle of described information collecting unit collection；Wherein, the status information includes speed information, OK
Sail directional information and braking information；
Open signal or shutdown signal are sent to the long distance radar and/or the low coverage radar according to the status information；
The long distance radar is received when receiving the open signal, detection is with the vehicle in default first distance
First result of detection of barrier generation；
The low coverage radar is received when receiving the open signal, detection is with the vehicle in default second distance
Second result of detection of barrier generation；
Cue is sent and to described to the attention device according to first result of detection and second result of detection
Brake actuator sends brake signal, so that the attention device issues the user with prompting letter when receiving the cue
Breath, and brake actuator vehicle described in active brake when receiving the brake signal.
10. according to the method for claim 9, it is characterised in that the low coverage radar is ultrasonic distance measuring radar, described remote
It is millimetre-wave radar away from radar；Wherein, the quantity of the ultrasonic distance measuring radar is multiple that the quantity of the millimetre-wave radar is extremely
It is one less；
Methods described also includes：
When the speed information is more than zero, and the transmits information for it is preceding to traveling when, radar is opened before control；Wherein,
The preceding radar includes being arranged at the ultrasonic distance measuring radar and millimetre-wave radar at the front bumper of the vehicle；
When the speed information is more than zero, and the transmits information is travels backward, radar is opened after control；Wherein,
Radar includes being arranged at the ultrasonic distance measuring radar at the rear bumper of the vehicle after described；
When the speed information is less than default first vehicle speed value, the transmits information is left steering and traveling ahead to the left,
And steering angle controls left front radar, left back radar and the preceding radar to open when being more than the first preset angle angle value；Wherein, institute
Stating left front radar and the left back radar includes driving after being respectively arranged at the left side steering front wheel side and left side of the vehicle and takes turns
The ultrasonic distance measuring radar of side；
When the speed information is less than default second vehicle speed value, the transmits information is right turn and traveling ahead to the right,
And steering angle is when being more than the second preset angle angle value, radar before control is right, it is right after radar and the preceding radar open；Wherein, institute
State before the right side radar and it is described it is right after radar include and be respectively arranged at behind the right side steering front wheel side and right side of the vehicle wheel of driving a vehicle
The ultrasonic distance measuring radar of side；
When the speed information is less than default 3rd vehicle speed value, the transmits information is left steering and behind to the left,
And steering angle is when being more than the 3rd preset angle angle value, control it is described it is right before radar, the left back radar and it is described after radar open；
When the speed information is less than default 4th vehicle speed value, the transmits information is right turn and behind to the right
When, and when steering angle is more than the 4th preset angle angle value, control the left front radar, it is described it is right after radar and it is described after radar open
Open；
When the speed information is more than default 5th vehicle speed value, and the transmits information is left steering, the left side is controlled
Preceding radar, the left back radar are opened；
When the speed information is more than default 6th vehicle speed value, and the transmits information is right turn, the right side is controlled
Radar is opened behind preceding radar, the right side；
When the speed information is more than default 7th vehicle speed value, and the transmits information is reverse travel, described in control
Brake actuator performs deceleration-operation to the vehicle.
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| CN109533149A (en) * | 2018-12-24 | 2019-03-29 | 南通大学 | The detection device of intelligent electric bicycle |
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| WO2020199010A1 (en) * | 2019-03-29 | 2020-10-08 | 深圳市大疆创新科技有限公司 | Millimeter wave radar-based tracking detection method, millimeter wave radar and vehicle |
| CN110356323A (en) * | 2019-08-12 | 2019-10-22 | 珠海骏驰科技有限公司 | A kind of active safety intelligent driving system |
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| CN112693414A (en) * | 2020-04-07 | 2021-04-23 | 西华大学 | Method for protecting active lifting of front bumper during rear-end collision of electric car |
| CN111610784A (en) * | 2020-05-20 | 2020-09-01 | 北京和绪科技有限公司 | Special range finding system of unmanned |
| CN111785086A (en) * | 2020-06-16 | 2020-10-16 | 杭州恒领科技有限公司 | V2X warning system based on traffic participant abnormal condition gathers |
| CN112162283A (en) * | 2020-08-18 | 2021-01-01 | 重庆睿行电子科技有限公司 | All-section networking traffic radar multi-target detection system |
| CN113895245A (en) * | 2021-11-24 | 2022-01-07 | 重庆邮电大学 | Afterloading AEB braking system for new energy vehicle and control method thereof |
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Denomination of invention: Vehicle safety assistance system and its control methods Granted publication date: 20200417 Pledgee: China Construction Bank Corporation Nanjing Zhongyangmen sub branch Pledgor: NANJING CHAOJINGJIE INTELLIGENT TECHNOLOGY CO.,LTD. Registration number: Y2024980006095 |
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