CN107757612A - A kind of vehicle height road surface driving assistance method and device - Google Patents
A kind of vehicle height road surface driving assistance method and device Download PDFInfo
- Publication number
- CN107757612A CN107757612A CN201610670752.8A CN201610670752A CN107757612A CN 107757612 A CN107757612 A CN 107757612A CN 201610670752 A CN201610670752 A CN 201610670752A CN 107757612 A CN107757612 A CN 107757612A
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- China
- Prior art keywords
- road surface
- speed
- safe
- distance
- running region
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
- B60W30/02—Control of vehicle driving stability
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
Abstract
The embodiment of the present invention discloses a kind of vehicle height road surface driving assistance method, including：The high low head in periphery road surface is obtained, dangerous running region is determined according to the high low head in periphery road surface；When the distance of vehicle body and the dangerous running region is less than default first distance threshold, reduction of speed operation is carried out.The embodiment of the present invention carries out active control in the case of it big drop highly be present, to car speed, avoids driver's reaction from causing accident not in time, so as to improve drive safety, avoids accident.
Description
Technical field
The present invention relates to automobile correlative technology field, particularly a kind of vehicle height road surface driving assistance method and device.
Background technology
Nearby exist when the larger step of high low head, steep cliff nearby stop or travelled, it is necessary to which driver especially notes
Meaning, in order to avoid stop or drive improper and cause security incident.
Exist in the prior art and detect the larger road conditions of this high low head using radar, sensor so as to be carried to driver
For the technical scheme of alarm.However, inventor has found during invention is realized, when running into high low head, report is only provided
Warn and be insufficient to, for the people that driving experience does not enrich, when hearing this alarm, driver does not often know how to locate
Put, so as to which the generation of accident can not be avoided.
The content of the invention
Based on this, it is necessary to only provide the skill of help deficiency of the alarm to driver for high low head for prior art
Art problem, there is provided a kind of vehicle height road surface driving assistance method and device.
The embodiment of the present invention provides a kind of vehicle height road surface driving assistance method, including：
The high low head in periphery road surface is obtained, dangerous running region is determined according to the high low head in periphery road surface；
When the distance of vehicle body and the dangerous running region is less than default first distance threshold, reduction of speed operation is carried out.
Further, the progress reduction of speed operation, is specifically included：
Obtain speed；
If the speed is higher than pre-set velocity threshold value, safety belt is locked, and reduce speed；
If the speed is less than pre-set velocity threshold value, speed is reduced.
Further, described when the distance of vehicle body and the dangerous running region is less than default first distance threshold
When, after carrying out reduction of speed operation, methods described also includes：
If the part that the distance of vehicle body and the dangerous running region is less than default first distance threshold is body side
Side, then using opposite side of the vehicle body away from the dangerous running region as safe direction, control direction disk is to the secure side
To steering.
Further, the control direction disk specifically includes to the safe directional steering：
Using opposite side of the vehicle body away from the dangerous running region as safe direction, calculating is at least one to estimate motion
Track, the movement locus of estimating is Prediction Control steering wheel to estimate corner to motion rail during the safe directional steering
Mark, movement locus is estimated as safety movement track using what the distance with any barrier was all higher than default first distance threshold,
Corner is estimated as safe corner using corresponding at least one safety movement track, determines to pacify according to the safe corner
Full steering range；
Control direction disk is in the safe steering range to the safe directional steering.
Further, the control direction disk is to the safe directional steering, in addition to：
Indicate the emergency route according at least one safety movement Track Pick-up.
Further, when the distance of vehicle body and the dangerous running region is less than default first distance threshold, enter
After the operation of row reduction of speed, methods described also includes：
When the distance of vehicle body and the dangerous running region is less than default second distance threshold value, sent to brake system
Brake signal, the second distance threshold value are less than first distance threshold.
The embodiment of the present invention provides a kind of vehicle height road surface drive assistance device, including：
High low head acquisition module, is used for：The high low head in periphery road surface is obtained, is determined not according to the high low head in periphery road surface
Drive safely region；
Reduction of speed module, is used for：When the distance of vehicle body and the dangerous running region is less than default first distance threshold,
Carry out reduction of speed operation.
Further, the progress reduction of speed operation, is specifically included：
Obtain speed；
If the speed is higher than pre-set velocity threshold value, safety belt is locked, and reduce speed；
If the speed is less than pre-set velocity threshold value, speed is reduced.
Further, after the reduction of speed module, described device also includes：
Steering module, it is used for：If the distance of vehicle body and the dangerous running region is less than default first distance threshold
Part be vehicle body side, then using opposite side of the vehicle body away from the dangerous running region as safe direction, control direction
Disk is to the safe directional steering.
Further, the control direction disk specifically includes to the safe directional steering：
Using opposite side of the vehicle body away from the dangerous running region as safe direction, calculating is at least one to estimate motion
Track, the movement locus of estimating is Prediction Control steering wheel to estimate corner to motion rail during the safe directional steering
Mark, movement locus is estimated as safety movement track using what the distance with any barrier was all higher than default first distance threshold,
Corner is estimated as safe corner using corresponding at least one safety movement track, determines to pacify according to the safe corner
Full steering range；
Control direction disk is in the safe steering range to the safe directional steering.
Further, the control direction disk is to the safe directional steering, in addition to：
Indicate the emergency route according at least one safety movement Track Pick-up.
Further, after the reduction of speed module, described device also includes：
Brake module, it is used for：When the distance of vehicle body and the dangerous running region is less than default second distance threshold value,
Brake signal is sent to brake system, the second distance threshold value is less than first distance threshold.
The embodiment of the present invention carries out active control in the case of it big drop highly be present, to car speed, avoids driver
Reaction causes accident not in time, so as to improve drive safety, avoids accident.
Brief description of the drawings
Fig. 1 is a kind of workflow diagram for vehicle height road surface driving assistance method that one embodiment of the invention provides；
Fig. 2 is the vehicle side surface view that low speed stops in alternative embodiment of the present invention；
Fig. 3 is the vehicle that low speed stops in alternative embodiment of the present invention；
Fig. 4 is the vehicle of alternative embodiment high speed of the present invention traveling；
Fig. 5 is the vehicle front view of alternative embodiment high speed of the present invention traveling；
Fig. 6 is a kind of workflow diagram for vehicle height road surface driving assistance method that alternative embodiment of the present invention provides；
Fig. 7 is a kind of apparatus module figure for vehicle height road surface drive assistance device that one embodiment of the invention provides；
Fig. 8 is a kind of apparatus module figure for vehicle height road surface drive assistance device that alternative embodiment of the present invention provides；
Fig. 9 is the hard of the electronic equipment for performing vehicle height road surface driving assistance method that alternative embodiment of the present invention provides
Part structural representation.
Embodiment
The present invention will be further described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment one
A kind of workflow of the vehicle height road surface driving assistance method provided as shown in Figure 1 for one embodiment of the invention
Figure, including：
Step S101, the high low head in periphery road surface is obtained, dangerous running region is determined according to the high low head in periphery road surface；
Step S102, when the distance of vehicle body and the dangerous running region is less than default first distance threshold, carry out
Reduction of speed operates.
Vehicle-surroundings road surface can have certain high low head, and step S101 determines the dangerous region of high low head
For dangerous running region, specifically, the high low head situation on road surface can be detected by radar, sensor etc., so as to really
Fixed dangerous running region.
And when the distance of vehicle body and the dangerous running region is less than default first distance threshold, step S102 is to car
Carry out reduction of speed operation.Specifically, can be by controlling air input of engine by air, so as to control the rotating speed of engine so that car
Active reduction of speed.Existing gas pedal instead of traditional cable control by electronic signature capture, therefore when needs actively drop
When fast, the semaphore of gas pedal can be ignored, and directly control control air input of engine by air, realize active reduction of speed.
The embodiment of the present invention carries out active control in the case of it big drop highly be present, to car speed, avoids driver
Reaction causes accident not in time, so as to improve drive safety, avoids accident.
Embodiment two
It is illustrated in figure 6 a kind of workflow for vehicle height road surface driving assistance method that alternative embodiment of the present invention provides
Cheng Tu, including：
Step S601, the high low head in periphery road surface is obtained, dangerous running region is determined according to the high low head in periphery road surface.
Specifically, the dangerous running region is poor more than default with the absolute value of the high low head of vehicle region
It is worth the region of threshold value.
Referring to figs. 2 and 3 the absolute value of the high low head in the region 1 on road surface and region 2 where vehicle exceedes default poor
It is worth threshold value.Therefore region 2 is dangerous running region.
Dangerous running region can be above vehicle region or less than vehicle region.As long as with
The absolute value of the high low head of vehicle region is more than preset difference value threshold value, that is, is judged as dangerous running region.Therefore, no
Safety traffic region can be steep cliff, massif, step, lake surface etc..
Step S602, when the distance of vehicle body and the dangerous running region is less than default first distance threshold, obtain
Speed, if the speed is higher than pre-set velocity threshold value, step S603 is performed, otherwise performs step S604.
Step S603, safety belt is locked, perform step S604.
Under conditions of difference of height exceeds secure threshold, it is also necessary to judge current driving condition by speed：It is to be in car
Speed is higher by the scorch state of predetermined value or speed is less than the state of driving at low speed of predetermined value.If drive at low speed shape
State, then no matter whether driver descends brake-apply, and DAS (Driver Assistant System) controls automobile to carry out active reduction of speed.If at a high speed
Driving condition, now easily causes driver's injury if brake is too quickly, it is therefore desirable to controls safety belt automatic first
Locking, then control automobile active reduction of speed.
Step S604, reduce speed.
Step S605, if the distance of vehicle body and the dangerous running region is less than the part of default first distance threshold
For vehicle body side, then using opposite side of the vehicle body away from the dangerous running region as safe direction, control direction disk is to institute
State safe directional steering.
With reference to figure 4 and Fig. 5, the now scorch of vehicle 5 and vehicle body side are close to dangerous running region 3.This uneasiness
The region-wide steep cliff generally without guardrail or higher massif etc..And region 4 is signal by analysis, resulting safety traffic
Region, solid line that analysis method includes but is not limited to identify by the sensor 51 of vehicle body in road, double solid line, dotted line and adjacent
The vehicle of lanes.
Now, it is less than default first distance threshold with the distance of the dangerous running region on the right side of vehicle body, then vehicle body
Left side is the safe direction away from dangerous running region, therefore control direction disk turns to vehicle body left direction.
Specifically, control direction disk specifically includes to the safe directional steering：
Using opposite side of the vehicle body away from the dangerous running region as safe direction, calculating is at least one to estimate motion
Track, the movement locus of estimating is Prediction Control steering wheel to estimate corner to motion rail during the safe directional steering
Mark, movement locus is estimated as safety movement track using what the distance with any barrier was all higher than default first distance threshold,
Corner is estimated as safe corner using corresponding at least one safety movement track, determines to pacify according to the safe corner
Full steering range；
The emergency route according at least one safety movement Track Pick-up is indicated, and control direction disk is in the safety
To the safe directional steering in steering range.
Specifically, if there is vehicle the side in safe direction, low-angle steering is changed to, and if the side in safe direction
During without vehicle, then the big corners such as doubling are allowed to operate.For example, as shown in Figure 4 and Figure 5, there is car on the left of the travel direction of vehicle 5
6, it is determined that its safe steering range, and control vehicle low-angle to turn to.
Preferably, when the distance of vehicle body and the dangerous running region is less than default first distance threshold, from trend
Driver sends alarm signal, and indicates emergency route.When warning does not obtain response, auto lock safety belt, subtract automatically
Speed is simultaneously close to safe direction.
Step S606, when the distance of vehicle body and the dangerous running region is less than default second distance threshold value, to brake
Car system sends brake signal, and the second distance threshold value is less than first distance threshold.
When the distance of either vehicle body side, headstock or the tailstock and the dangerous running region is less than second distance,
Equal self-actuating brake, ensure emergency.
The embodiment of the present invention carries out active control in the case of it big drop highly be present, to car speed, avoids driver
Reaction causes accident not in time, so as to improve drive safety, avoids accident.Meanwhile by identifying emergency route so that
Driver knows how that driving is avoided that accident, while by controlling safety belt auto lock, avoids dashing forward in high-speed cruising state
So slow down to driver, by the way that the corner of tire is controlled in a preset range, both avoided vehicle and fallen into
Dangerous running region, it turn avoid driver's misoperation and produce collision with side barrier, by self-actuating brake, enter one
Walk support vehicles safety.
Embodiment three
A kind of apparatus module of vehicle height road surface drive assistance device of one embodiment of the invention offer is provided
Figure, including：
High low head acquisition module 701, is used for：The high low head in periphery road surface is obtained, it is true according to the high low head in periphery road surface
Fixed dangerous running region；
Reduction of speed module 702, is used for：When the distance of vehicle body and the dangerous running region is less than default first distance threshold
When, carry out reduction of speed operation.
The embodiment of the present invention carries out active control in the case of it big drop highly be present, to car speed, avoids driver
Reaction causes accident not in time, so as to improve drive safety, avoids accident.
Example IV
It is illustrated in figure 8 a kind of device mould for vehicle height road surface drive assistance device that alternative embodiment of the present invention provides
Block figure, including：
High low head acquisition module 801, is used for：The high low head in periphery road surface is obtained, it is true according to the high low head in periphery road surface
Fixed dangerous running region.
Reduction of speed module 802, is used for：When the distance of vehicle body and the dangerous running region is less than default first distance threshold
When, speed is obtained, if the speed is higher than pre-set velocity threshold value, locks safety belt, and reduce speed；If the speed
Less than pre-set velocity threshold value, then speed is reduced.
Steering module 803, is used for：If the distance of vehicle body and the dangerous running region is less than default first apart from threshold
The part of value is vehicle body side, then using opposite side of the vehicle body away from the dangerous running region as safe direction, controlling party
To disk to the safe directional steering.
Specifically, the control direction disk specifically includes to the safe directional steering：
Using opposite side of the vehicle body away from the dangerous running region as safe direction, calculating is at least one to estimate motion
Track, the movement locus of estimating is Prediction Control steering wheel to estimate corner to motion rail during the safe directional steering
Mark, movement locus is estimated as safety movement track using what the distance with any barrier was all higher than default first distance threshold,
Corner is estimated as safe corner using corresponding at least one safety movement track, determines to pacify according to the safe corner
Full steering range；
The emergency route according at least one safety movement Track Pick-up is indicated, and control direction disk is in the safety
To the safe directional steering in steering range.
Brake module 804, is used for：When the distance of vehicle body and the dangerous running region is less than default second distance threshold value
When, brake signal is sent to brake system, the second distance threshold value is less than first distance threshold.
The embodiment of the present invention carries out active control in the case of it big drop highly be present, to car speed, avoids driver
Reaction causes accident not in time, so as to improve drive safety, avoids accident.Meanwhile by identifying emergency route so that
Driver knows how that driving is avoided that accident, while by controlling safety belt auto lock, avoids dashing forward in high-speed cruising state
So slow down to driver, by the way that the corner of tire is controlled in a preset range, both avoided vehicle and fallen into
Dangerous running region, it turn avoid driver's misoperation and produce collision with side barrier, by self-actuating brake, enter one
Walk support vehicles safety.
Fifth embodiment of the invention provides a kind of nonvolatile computer storage media, and the computer-readable storage medium is deposited
Computer executable instructions are contained, the computer executable instructions can perform the vehicle height in above-mentioned any means embodiment
Road surface driving assistance method.
The electronics for being illustrated in figure 9 the execution vehicle height road surface driving assistance method of sixth embodiment of the invention offer is set
Standby hardware architecture diagram, it mainly includes：One or more processors 910, memory 920 etc., with a processing in Fig. 9
Exemplified by device 910.
Performing the electronic equipment of vehicle height road surface driving assistance method can also include：Input unit 930 and output fill
Put 940.
Processor 910, memory 920, input unit 930 and display device 940 can pass through bus or other modes
Connect, in Fig. 9 exemplified by being connected by bus.
Memory 920 is used as a kind of non-volatile computer readable storage medium storing program for executing, available for storage non-volatile software journey
Sequence, non-volatile computer executable program and module, as the vehicle height road surface in the embodiment of the present application drives auxiliary square
Programmed instruction/module corresponding to method, for example, high low head acquisition module 801 and reduction of speed module 802 shown in accompanying drawing 7.Processor
910 are stored in non-volatile software program, instruction and module in memory 920 by operation, so as to perform various functions
Using and data processing, that is, realize the vehicle height road surface driving assistance method in above-described embodiment.
Memory 920 can include storing program area and storage data field, wherein, storing program area can store operation system
Application program required for system, at least one function；Storage data field can be stored according to vehicle height road surface drive assistance device
Use created data etc..In addition, memory 920 can include high-speed random access memory, can also include non-easy
The property lost memory, a for example, at least disk memory, flush memory device or other non-volatile solid state memory parts.One
In a little embodiments, memory 920 is optional including relative to the remotely located memory of processor 910, these remote memories can
To pass through network connection to the device for performing vehicle height road surface driving assistance method.The example of above-mentioned network includes but is not limited to
Internet, intranet, LAN, mobile radio communication and combinations thereof.
The user that input unit 930 can receive input clicks on, and produces and vehicle height road surface drive assistance device
The signal input that user is set and function control is relevant.Display device 940 may include the display devices such as display screen, before display
State emergency route.
It is stored in one or more of modules in the memory 920, when by one or more of processing
When device 910 is run, the vehicle height road surface driving assistance method in above-mentioned any means embodiment is performed.
The said goods can perform the method that the embodiment of the present application is provided, and possesses the corresponding functional module of execution method and has
Beneficial effect.Not ins and outs of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present application is provided.
The electronic equipment of the embodiment of the present invention exists in a variety of forms, includes but is not limited to:
(1) electronic control unit (Electronic Control Unit, ECU) is also known as " car running computer ", " vehicle-mounted computer "
Deng.Mainly by microprocessor (CPU), memory (ROM, RAM), input/output interface (I/O), analog-digital converter (A/D) and
The large scale integrated circuits such as shaping, driving form.
(2) other electronic installations with data interaction function.
In addition, the logical order in above-mentioned memory 820 can be realized and be used as by the form of SFU software functional unit
Independent production marketing in use, can be stored in a computer read/write memory medium.Based on such understanding, sheet
The part or the part of the technical scheme that the technical scheme of invention substantially contributes to prior art in other words can be with
The form of software product is embodied, and the computer software product is stored in a storage medium, including some instructions to
So that a mobile terminal (can be personal computer, server, or network equipment etc.) performs each embodiment of the present invention
The all or part of step of methods described.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. it is various
Can be with the medium of store program codes.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, it can be as the part that unit is shown or may not be physics list
Member, you can with positioned at a place, or can also be distributed on multiple NEs.It can be selected according to the actual needs
In some or all of module realize the purpose of scheme of the embodiment of the present invention.Those of ordinary skill in the art are not paying wound
In the case of the work for the property made, you can to understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on such understanding, on
The part that technical scheme substantially in other words contributes to prior art is stated to embody in the form of software product, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some fingers
Make to cause a computer equipment (can be personal computer, server, or network equipment etc.) to perform each implementation
Method described in some parts of example or embodiment.
Finally it should be noted that：Above example is only to illustrate the technical scheme of the embodiment of the present invention, rather than it is limited
System；Although the embodiment of the present invention is described in detail with reference to the foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, or to which part technical characteristic
Carry out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention skill
The spirit and scope of art scheme.
Claims (12)
- A kind of 1. vehicle height road surface driving assistance method, it is characterised in that including：The high low head in periphery road surface is obtained, dangerous running region is determined according to the high low head in periphery road surface；When the distance of vehicle body and the dangerous running region is less than default first distance threshold, reduction of speed operation is carried out.
- 2. vehicle height road surface driving assistance method according to claim 1, it is characterised in that the progress reduction of speed behaviour Make, specifically include：Obtain speed；If the speed is higher than pre-set velocity threshold value, safety belt is locked, and reduce speed；If the speed is less than pre-set velocity threshold value, speed is reduced.
- 3. vehicle height road surface driving assistance method according to claim 2, it is characterised in that work as vehicle body and institute described When stating the distance of dangerous running region less than default first distance threshold, after carrying out reduction of speed operation, methods described also includes：If the part that the distance of vehicle body and the dangerous running region is less than default first distance threshold is vehicle body side, Turn opposite side of the vehicle body away from the dangerous running region as safe direction, control direction disk to the safe direction To.
- 4. vehicle height road surface driving assistance method according to claim 3, it is characterised in that the control direction disk to The safe directional steering, is specifically included：Using opposite side of the vehicle body away from the dangerous running region as safe direction, calculating is at least one to estimate motion rail Mark, the movement locus of estimating is Prediction Control steering wheel to estimate corner to movement locus during the safe directional steering, Movement locus is estimated as safety movement track using what the distance with any barrier was all higher than default first distance threshold, it is near Corner is estimated as safe corner corresponding to a few safety movement track, determines that safety turns according to the safe corner To scope；Control direction disk is in the safe steering range to the safe directional steering.
- 5. vehicle height road surface driving assistance method according to claim 4, it is characterised in that the control direction disk to The safe directional steering, in addition to：Indicate the emergency route according at least one safety movement Track Pick-up.
- 6. the vehicle height road surface driving assistance method according to any one of Claims 1 to 5, it is characterised in that working as car When the distance of body and the dangerous running region is less than default first distance threshold, after carrying out reduction of speed operation, methods described Also include：When the distance of vehicle body and the dangerous running region is less than default second distance threshold value, brake is sent to brake system Signal, the second distance threshold value are less than first distance threshold.
- A kind of 7. vehicle height road surface drive assistance device, it is characterised in that including：High low head acquisition module, is used for：The high low head in periphery road surface is obtained, is determined according to the high low head in periphery road surface dangerous Running region；Reduction of speed module, is used for：When the distance of vehicle body and the dangerous running region is less than default first distance threshold, carry out Reduction of speed operates.
- 8. vehicle height road surface drive assistance device according to claim 7, it is characterised in that the progress reduction of speed behaviour Make, specifically include：Obtain speed；If the speed is higher than pre-set velocity threshold value, safety belt is locked, and reduce speed；If the speed is less than pre-set velocity threshold value, speed is reduced.
- 9. vehicle height road surface drive assistance device according to claim 8, it is characterised in that the reduction of speed module it Afterwards, described device also includes：Steering module, it is used for：If the distance of vehicle body and the dangerous running region is less than the portion of default first distance threshold Be divided into vehicle body side, then using opposite side of the vehicle body away from the dangerous running region as safe direction, control direction disk to The safe directional steering.
- 10. vehicle height road surface drive assistance device according to claim 9, it is characterised in that the control direction disk To the safe directional steering, specifically include：Using opposite side of the vehicle body away from the dangerous running region as safe direction, calculating is at least one to estimate motion rail Mark, the movement locus of estimating is Prediction Control steering wheel to estimate corner to movement locus during the safe directional steering, Movement locus is estimated as safety movement track using what the distance with any barrier was all higher than default first distance threshold, it is near Corner is estimated as safe corner corresponding to a few safety movement track, determines that safety turns according to the safe corner To scope；Control direction disk is in the safe steering range to the safe directional steering.
- 11. vehicle height road surface drive assistance device according to claim 10, it is characterised in that the control direction disk To the safe directional steering, in addition to：Indicate the emergency route according at least one safety movement Track Pick-up.
- 12. the vehicle height road surface drive assistance device according to any one of claim 7~11, it is characterised in that in institute After stating reduction of speed module, described device also includes：Brake module, it is used for：When the distance of vehicle body and the dangerous running region is less than default second distance threshold value, to brake Car system sends brake signal, and the second distance threshold value is less than first distance threshold.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610670752.8A CN107757612A (en) | 2016-08-15 | 2016-08-15 | A kind of vehicle height road surface driving assistance method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610670752.8A CN107757612A (en) | 2016-08-15 | 2016-08-15 | A kind of vehicle height road surface driving assistance method and device |
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| CN107757612A true CN107757612A (en) | 2018-03-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610670752.8A Withdrawn CN107757612A (en) | 2016-08-15 | 2016-08-15 | A kind of vehicle height road surface driving assistance method and device |
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| CN (1) | CN107757612A (en) |
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