CN107963076A - Based on millimetre-wave radar detection target obstacle longitudinal direction collision-proof method - Google Patents

Based on millimetre-wave radar detection target obstacle longitudinal direction collision-proof method Download PDF

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Publication number
CN107963076A
CN107963076A CN201711310156.XA CN201711310156A CN107963076A CN 107963076 A CN107963076 A CN 107963076A CN 201711310156 A CN201711310156 A CN 201711310156A CN 107963076 A CN107963076 A CN 107963076A
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CN
China
Prior art keywords
time
vehicle
collision
braking
millimetre
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711310156.XA
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Chinese (zh)
Inventor
黄福良
张林灿
曹哲
董钊志
樊文堂
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
New Energy Automobile Group Co Ltd
Original Assignee
New Energy Automobile Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by New Energy Automobile Group Co Ltd filed Critical New Energy Automobile Group Co Ltd
Priority to CN201711310156.XA priority Critical patent/CN107963076A/en
Publication of CN107963076A publication Critical patent/CN107963076A/en
Pending legal-status Critical Current

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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
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
    • B60W2420/408—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects

Abstract

The speed V of distance S and front truck of the vehicle away from front vehicles are measured by millimetre-wave radar based on millimetre-wave radar detection target obstacle longitudinal direction collision-proof method, intelligent vehicle the present invention provides one kind1, the travel speed V of car is read from by vehicle CAN bus2, pre-impact time Tp=S/(V2‑V1), if front truck emergency braking, collision time is T=S/V2+TTC, collision time is divided into three grades, collision time is calculated in real time, and buzzer warning is triggered when the time is in 3 5s and reminds driver；Braking valve vehicle is triggered when the time is in 2 3s and does buffer deceleration braking；When the time is within 2s, triggering braking valve does emergency braking.In addition on this basis distance S signals are also served as referring to, when S is less than 3 meters, triggering brake valve does emergency braking.The present invention enables to intelligent driving vehicle more safely to be driven in dynamic environment.

Description

Based on millimetre-wave radar detection target obstacle longitudinal direction collision-proof method
Technical field
The present invention relates to traffic and transport field, is specifically that a kind of millimetre-wave radar that is based on detects target obstacle longitudinal direction anti-collision Hit method.
Background technology
Intelligent driving technology is one of current most burning hot cutting edge technology, is in the stage of high speed development, is led in military affairs Domain and civil field suffer from important research significance.For intelligent vehicle, whether the discussion of safety is asking of paying close attention to the most of people Topic, traffic safety aspect are significant for intelligent driving technology.It is currently used for the strategy of the safe anticollision of intelligent driving It is that drawback is not account for the reaction time of driver as with reference to the standard judged mostly according to single distance or road speed The parameter that different band is come；Based on this, this patent combination travel speed, be total to away from obstacle distance and time of driver's reaction TTC It is same to be used as with reference to standard to anticollision decision-making, and closed according to time of driver's reaction and the design of vehicle maximum deceleration empirical value The minimum safetyspacing model of reason, proposes danger early warning distance and buffer-braking strategy on this basis, and has auxiliary braking Collision avoidance algorithm, improve vehicle active safety energy.
The content of the invention
The present invention is in order to solve problem of the prior art, there is provided one kind is indulged based on millimetre-wave radar detection target obstacle To collision-proof method, the parameter that the reaction time different band of driver comes is efficiently solved with reference to a variety of reference factors；Improve car Active safety performance.
The present invention combines travel speed in anti-collision warning before doing, away from obstacle distance and time of driver's reaction TTCAltogether It is same to be used as with reference to standard to anticollision decision-making, and closed according to time of driver's reaction and the design of vehicle maximum deceleration empirical value The minimum safetyspacing model of reason, proposes danger early warning distance and buffer-braking strategy on this basis, and has auxiliary braking Collision avoidance algorithm, improve vehicle active safety energy.
Intelligent vehicle measures the speed V of distance S and front truck of the vehicle away from front vehicles by millimetre-wave radar1, pass through vehicle CAN bus reads from the travel speed V of car2, pre-impact time Tp=S/(V2-V1), if front truck emergency braking, collision time are T=S/V2+TTC, collision time is divided into three grades, collision time is calculated in real time, and buzzing is triggered when the time is in 3-5s Device warning reminding driver；Braking valve vehicle is triggered when the time is in 2-3s and does buffer deceleration braking；When the time 2s it When interior, triggering braking valve does emergency braking.In addition on this basis distance S signals are also served as referring to, when S is less than 3 meters Triggering brake valve does emergency braking.This patent enables to intelligent driving vehicle more safely to be driven in dynamic environment.
Beneficial effect of the present invention is：The reaction time different band that driver is efficiently solved with reference to a variety of reference factors is come Parameter；Improve vehicle active safety energy.
Embodiment
The invention will be further described below.
The present invention combines travel speed in anti-collision warning before doing, away from obstacle distance and time of driver's reaction TTCAltogether It is same to be used as with reference to standard to anticollision decision-making, and closed according to time of driver's reaction and the design of vehicle maximum deceleration empirical value The minimum safetyspacing model of reason, proposes danger early warning distance and buffer-braking strategy on this basis, and has auxiliary braking Collision avoidance algorithm, improve vehicle active safety energy.
Intelligent vehicle measures the speed V of distance S and front truck of the vehicle away from front vehicles by millimetre-wave radar1, pass through vehicle CAN bus reads from the travel speed V of car2, pre-impact time Tp=S/(V2-V1), if front truck emergency braking, collision time are T=S/V2+TTC, collision time is divided into three grades, collision time is calculated in real time, and buzzing is triggered when the time is in 3-5s Device warning reminding driver；Braking valve vehicle is triggered when the time is in 2-3s and does buffer deceleration braking；When the time 2s it When interior, triggering braking valve does emergency braking.In addition on this basis distance S signals are also served as referring to, when S is less than 3 meters Triggering brake valve does emergency braking.This patent enables to intelligent driving vehicle more safely to be driven in dynamic environment.
Concrete application approach of the present invention is very much, and the above is only the preferred embodiment of the present invention, it is noted that for For those skilled in the art, without departing from the principle of the present invention, some improvement can also be made, this A little improve also should be regarded as protection scope of the present invention.

Claims (2)

1. one kind is based on millimetre-wave radar detection target obstacle longitudinal direction collision-proof method, it is characterised in that comprises the following steps：
1) the speed V of distance S and front truck of the vehicle away from front vehicles are measured by millimetre-wave radar1, read by vehicle CAN bus It is derived from the travel speed V of car2, pre-impact time Tp=S/(V2-V1)；
2）If front truck emergency braking, collision time is T=S/V2+TTC, collision time is divided into three grades, collision time is real When be calculated, when the time is in 3-5s trigger buzzer warning remind driver；Brake valve is triggered when the time is in 2-3s Door vehicle does buffer deceleration braking；When the time is within 2s, triggering braking valve does emergency braking.
2. according to claim 1 existed based on millimetre-wave radar detection target obstacle longitudinal direction collision-proof method, its feature In：When the distance S away from front vehicles is less than 3 meters, triggering brake valve does emergency braking.
CN201711310156.XA 2017-12-11 2017-12-11 Based on millimetre-wave radar detection target obstacle longitudinal direction collision-proof method Pending CN107963076A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711310156.XA CN107963076A (en) 2017-12-11 2017-12-11 Based on millimetre-wave radar detection target obstacle longitudinal direction collision-proof method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711310156.XA CN107963076A (en) 2017-12-11 2017-12-11 Based on millimetre-wave radar detection target obstacle longitudinal direction collision-proof method

Publications (1)

Publication Number Publication Date
CN107963076A true CN107963076A (en) 2018-04-27

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109080604A (en) * 2018-08-14 2018-12-25 格陆博科技有限公司 A kind of automatic emergency brake system based on AEB system
CN109733358A (en) * 2018-12-28 2019-05-10 芜湖鑫芯微电子有限公司 A kind of automobile safety driving system and its drive manner based on proximity sensor
CN109910879A (en) * 2019-04-03 2019-06-21 大连理工大学 A kind of vehicle safety anticollision control method of combination safe distance and collision time
CN110450777A (en) * 2019-07-10 2019-11-15 同济大学 The vehicle early warning control method and system of multi-parameter input based on millimetre-wave radar
CN112046472A (en) * 2020-09-11 2020-12-08 中国第一汽车股份有限公司 Vehicle collision avoidance method and device, vehicle and storage medium
CN112298132A (en) * 2020-10-12 2021-02-02 清华大学苏州汽车研究院（相城） Vehicle autonomous emergency braking control system and control method
CN112606831A (en) * 2019-09-19 2021-04-06 中车时代电动汽车股份有限公司 Anti-collision warning information external interaction method and system for passenger car
CN112758067A (en) * 2021-01-22 2021-05-07 北京中科慧眼科技有限公司 Emergency braking method and system based on binocular stereo camera and intelligent terminal
CN113022519A (en) * 2021-03-31 2021-06-25 东风汽车集团股份有限公司 Redundancy control emergency braking method and system
CN113085854A (en) * 2021-05-10 2021-07-09 东风汽车集团股份有限公司 System and method for identifying obstacle above vehicle through radar camera
CN113353069A (en) * 2021-07-22 2021-09-07 中国第一汽车股份有限公司 Automatic emergency braking system, and method and system for adjusting automatic emergency braking system
CN113895432A (en) * 2021-10-14 2022-01-07 江苏爱玛车业科技有限公司 Radar-assisted driving system and method

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CN104627176A (en) * 2013-11-14 2015-05-20 北汽福田汽车股份有限公司 Control method and system of electric vehicle
US20160052515A1 (en) * 2014-08-21 2016-02-25 Hyundai Motor Company Method and apparatus of predicting collision for omnidirectional application within emergency brake system
CN106240458A (en) * 2016-07-22 2016-12-21 浙江零跑科技有限公司 A kind of vehicular frontal impact method for early warning based on vehicle-mounted binocular camera

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CN102745194A (en) * 2012-06-19 2012-10-24 东南大学 Self-adaption alarming method for preventing tailgating with front car on expressway
CN104627176A (en) * 2013-11-14 2015-05-20 北汽福田汽车股份有限公司 Control method and system of electric vehicle
CN104134371A (en) * 2014-07-09 2014-11-05 奇瑞汽车股份有限公司 Method and device for early warning of vehicle collision
US20160052515A1 (en) * 2014-08-21 2016-02-25 Hyundai Motor Company Method and apparatus of predicting collision for omnidirectional application within emergency brake system
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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109080604A (en) * 2018-08-14 2018-12-25 格陆博科技有限公司 A kind of automatic emergency brake system based on AEB system
CN109733358B (en) * 2018-12-28 2021-04-30 芜湖易泽中小企业公共服务股份有限公司 Automobile safe driving system based on proximity sensor and driving method thereof
CN109733358A (en) * 2018-12-28 2019-05-10 芜湖鑫芯微电子有限公司 A kind of automobile safety driving system and its drive manner based on proximity sensor
CN109910879A (en) * 2019-04-03 2019-06-21 大连理工大学 A kind of vehicle safety anticollision control method of combination safe distance and collision time
CN109910879B (en) * 2019-04-03 2020-07-14 大连理工大学 Vehicle safety anti-collision control method combining safe distance and collision time
CN110450777A (en) * 2019-07-10 2019-11-15 同济大学 The vehicle early warning control method and system of multi-parameter input based on millimetre-wave radar
CN112606831A (en) * 2019-09-19 2021-04-06 中车时代电动汽车股份有限公司 Anti-collision warning information external interaction method and system for passenger car
CN112046472A (en) * 2020-09-11 2020-12-08 中国第一汽车股份有限公司 Vehicle collision avoidance method and device, vehicle and storage medium
CN112298132A (en) * 2020-10-12 2021-02-02 清华大学苏州汽车研究院（相城） Vehicle autonomous emergency braking control system and control method
CN112758067A (en) * 2021-01-22 2021-05-07 北京中科慧眼科技有限公司 Emergency braking method and system based on binocular stereo camera and intelligent terminal
CN113022519A (en) * 2021-03-31 2021-06-25 东风汽车集团股份有限公司 Redundancy control emergency braking method and system
CN113022519B (en) * 2021-03-31 2022-03-11 东风汽车集团股份有限公司 Redundancy control emergency braking method and system
CN113085854A (en) * 2021-05-10 2021-07-09 东风汽车集团股份有限公司 System and method for identifying obstacle above vehicle through radar camera
CN113353069A (en) * 2021-07-22 2021-09-07 中国第一汽车股份有限公司 Automatic emergency braking system, and method and system for adjusting automatic emergency braking system
CN113895432A (en) * 2021-10-14 2022-01-07 江苏爱玛车业科技有限公司 Radar-assisted driving system and method

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Application publication date: 20180427