CN108116407A - A kind of vehicle, auxiliary driving device and system for vehicle - Google Patents
A kind of vehicle, auxiliary driving device and system for vehicle Download PDFInfo
- Publication number
- CN108116407A CN108116407A CN201611042146.8A CN201611042146A CN108116407A CN 108116407 A CN108116407 A CN 108116407A CN 201611042146 A CN201611042146 A CN 201611042146A CN 108116407 A CN108116407 A CN 108116407A
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- Prior art keywords
- signal
- vehicle
- distance
- target object
- minimum range
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—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
- 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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/181—Preparing for stopping
-
- 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
This application discloses a kind of vehicle, for the auxiliary driving device and system of vehicle.The system includes：Signal projector on target object and the auxiliary driving device on vehicle, wherein：Signal projector, for emitting signal；Auxiliary driving device includes：Signal receiver and determination unit, wherein：Signal receiver, for receiving the signal that signal projector is emitted；Determination unit, for determining the distance between signal projector and the signal receiver according to the signal, so as to the traveling according to distance controlling vehicle.After the signal emitted by signal receiver in the signal projector received on target object, determination unit is according to the signal, accurately definite the distance between signal projector and signal receiver, so that the automated driving system of driver or automatic driving vehicle, can the problems of the prior art be solved according to the traveling of the distance controlling vehicle.
Description
Technical field
This application involves technical field of vehicle more particularly to a kind of vehicle, for vehicle auxiliary driving device and be
System.
Background technology
With the continuous development of society, vehicle has come into people’s lives as a kind of vehicles of common.In daily life
In work, it will usually occur needing the situation close to some target object by vehicle drive.For example, driver drives vehicle close to hair
Card machine, in order to obtain access card；Or driver drives vehicle close to mail storage box, in order to obtain mail.
In practical applications, driver can only drive when needing to drive vehicle close to some target object according to personal
Experience is sailed to predict the distance between vehicle-to-target object, but due to the deficiency of mankind itself, it will usually occur predicting not
Accurate situation, so as to influence whether vehicle to the close traveling process of target object.
The content of the invention
The embodiment of the present application provides a kind of vehicle, auxiliary driving device and system for vehicle, existing for solving
There is the problem of in technology.
The embodiment of the present application provides a kind of DAS (Driver Assistant System) for vehicle, the system comprises：Positioned at object
Signal projector on body and the auxiliary driving device on vehicle, wherein：
The signal projector, for emitting signal；
The auxiliary driving device includes：Signal receiver and determination unit, wherein：The signal receiver, is used for
Receive the signal that the signal projector is emitted；The determination unit, for determining that the signal emits according to the signal
The distance between device and the signal receiver, so as to the traveling of the vehicle according to the distance controlling.
Preferably, the signal that the signal projector is emitted includes emitting the launch time during signal；Then,
The distance between the signal projector and the signal receiver are determined according to the signal, specifically included：Root
Receiving time, the launch time and the intrinsic of the signal when signal is received according to the signal receiver transmit speed
Degree, determines the distance between the signal projector and the signal receiver.
Preferably, multiple signal projectors, each signal projector and the letter emitted are included on the target object
Number have correspondence；Then,
The signal receiver, for receiving the signal that each signal projector is emitted；
The determination unit, for determining that corresponding signal projector is received with the signal respectively according to each signal
The distance between device determines the relative position information of the vehicle and the target object according to each distance, according to described
Relative position information determines the minimum range between the vehicle and the target object, to be controlled according to the minimum range
The traveling of the vehicle.
Preferably, the traveling of the vehicle is controlled according to the minimum range, specifically includes any one following：Work as institute
When stating minimum range less than default minimum threshold, the vehicle is controlled to the direction running for increasing the minimum range；
When the minimum range is less than default minimum threshold, the vehicle is controlled to brake；
When the minimum range is less than default minimum threshold, forbid adjusting traveling to the direction for reducing the minimum range
Direction.
Preferably, according to the distance controlling vehicle traveling, specifically include any one following：
When the minimum range is more than default max-thresholds, the vehicle is controlled to the direction for reducing the minimum range
Traveling；
When the minimum range is more than default max-thresholds, forbid adjusting traveling to the direction for increasing the minimum range
Direction.
Preferably, minimum range between the vehicle and the target object is determined according to the relative position information,
It specifically includes：
The vehicle and the target object are determined according to the travel direction of the relative position information and the vehicle
Between minimum range.
Preferably, each signal projector is respectively the first signal projector and secondary signal transmitter；Then,
The signal receiver, for receiving first signal projector and the secondary signal transmitter emitted
Signal；
The determination unit, for determining that the signal receiver is sent out with first signal respectively according to corresponding signal
The first distance between emitter and the second distance between the signal receiver and the secondary signal transmitter, according to institute
State intrinsic distance between the first signal projector and the secondary signal transmitter, first distance, the second distance
And the travel direction of the vehicle when the definite vehicle close to the target object when, according to first distance and institute
The relative position information that second distance determines the vehicle and the target object is stated, institute is determined according to the relative position information
The minimum range between vehicle and the target object is stated, to control the traveling of the vehicle according to the minimum range.
Preferably, frequency band and/or waveform between the signal that each signal projector on the target object is emitted
It is different.
Preferably, the signal projector is used to emit ultrasonic signal or electromagnetic wave signal.
A kind of auxiliary driving device for vehicle has been gone back in the embodiment of the present application offer, and described device includes：Signal receives
Device and determination unit, wherein：
The signal receiver, for receiving the signal that the signal projector being located on target object is emitted；
The determination unit, for being determined according to the signal between the signal projector and the signal receiver
Distance, so as to the traveling of the vehicle according to the distance controlling.
A kind of vehicle has been gone back in the embodiment of the present application offer, and what the vehicle included that the embodiment of the present application provided is used for vehicle
Auxiliary driving device.
Above-mentioned at least one technical solution that the embodiment of the present application uses can reach following advantageous effect：
The DAS (Driver Assistant System) for vehicle provided using the embodiment of the present application, since the signal in the system receives
After the signal that device is emitted in the signal projector received on the target object, determination unit can according to the signal,
Accurately definite the distance between signal projector and signal receiver, so that oneself of driver or automatic driving vehicle
Dynamic control loop, can solve the problems of the prior art according to the traveling of the distance controlling vehicle.
Description of the drawings
Attached drawing described herein is used for providing further understanding of the present application, forms the part of the application, this Shen
Schematic description and description please does not form the improper restriction to the application for explaining the application.In the accompanying drawings：
Fig. 1 is that the concrete structure of the DAS (Driver Assistant System) provided by the embodiments of the present application for vehicle is intended to；
Fig. 2 provides the schematic diagram of the minimum range between definite vehicle-to-target object for the embodiment of the present application；
Whether Fig. 3 is definite vehicle provided by the embodiments of the present application in the schematic diagram close to target object；
Fig. 4-1 is the rearview of automatic driving vehicle provided by the embodiments of the present application traveling；
Fig. 4-2 is the top view of automatic driving vehicle provided by the embodiments of the present application traveling；
Fig. 5 is that the concrete structure of the auxiliary driving device provided by the embodiments of the present application for vehicle is intended to.
Specific embodiment
To make the purpose, technical scheme and advantage of the application clearer, below in conjunction with the application specific embodiment and
Technical scheme is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only the application one
Section Example, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not doing
Go out all other embodiments obtained under the premise of creative work, shall fall in the protection scope of this application.
Below in conjunction with attached drawing, the technical solution that each embodiment of the application provides is described in detail.
Embodiment
As described above, with the continuous development of society, vehicle has come into people’s lives as a kind of vehicles of common.
In daily life, it will usually occur needing the situation close to some target object by vehicle drive.For example, driver drives vehicle
Close to card sender, in order to obtain access card；Or driver drives vehicle close to mail storage box, in order to obtain letter
Part.
In practical applications, driver can only drive when needing to drive vehicle close to some target object according to personal
Experience is sailed to predict the distance between vehicle-to-target object, but due to the deficiency of mankind itself, it will usually occur predicting not
Accurate situation, so as to influence whether vehicle to the close traveling process of target object.
For example, when driver drives vehicle close to card sender, it is typically only capable to predict vehicle and hair fastener according to driving experience
The distance between machine the defects of due to mankind itself, when the range prediction is not punctual, may result in vehicle too close to hair fastener
Power traction plays security incident or vehicle is too far from card sender, causes card taking inconvenient.
The embodiment of the present application provides a kind of DAS (Driver Assistant System) for vehicle, can be used in solving of the prior art
Problem.The concrete structure schematic diagram of the system is as shown in Figure 1, the system 10 includes：Signal projector on target object
11 and the auxiliary driving device 12 on vehicle, wherein：
The signal projector 11, for emitting signal；
The auxiliary driving device 12 includes：Signal receiver 121 and determination unit 122, wherein：The signal receives
Device 121, for receiving the signal that the signal projector 11 is emitted；The determination unit 122, for true according to the signal
Fixed the distance between the signal projector 11 and the signal receiver 121, so as to the vehicle according to the distance controlling
Traveling.
In practical applications, user is when driving vehicle (including automobile, train and some other motor vehicles), it will usually
The scene needed close to some object is run into, which can be referred to as target object.For example, driver's driving is close
The card sender of access card, can be using the card sender as target object；Driver's driving can be incited somebody to action close to mail storage box
The mail storage box is as target object.When vehicle is close to target object, if security incident may closely occur very much for distance,
If the distance is too far to bring inconvenience.
Therefore, can on target object setting signal transmitter 11, for emitting signal, so as to according to the signal
Determine the distance between signal projector 11 and signal receiver 121, it generally also can be using the distance as vehicle-to-target object
The distance between body, and then can be according to the traveling of the distance controlling vehicle.
When signal projector 11 usually being arranged on target object, the signal projector 11 can be consolidated by fixed component
It is scheduled on target object.The signal projector 11 can be the signal projector or transmitting electricity for emitting ultrasonic signal
The signal projector of magnetostatic wave signal (for example, radar signal etc.) or the signal projector for emitting other types signal.
Signal receiver 121 is corresponding with the signal projector 11 being arranged on target object, can be used for receiving the letter
The signal that number transmitter 11 is emitted.For example, the signal projector 11 transmitting is ultrasonic signal, then signal receiver 121
It being capable of received ultrasonic signal.
Determination unit 122 can determine signal projector 11 and signal according to the signal received by signal receiver 121
The distance between receiver 121, so as to the traveling according to the distance controlling vehicle.In general, the device 12 can be set
It puts on vehicle, after the distance between signal projector 11 and signal receiver 121 is determined, can be determined according to the distance
The distance between vehicle-to-target object (for example, by the distance between signal projector 11 and signal receiver 121 directly as
The distance between vehicle-to-target object), so as to control the traveling of vehicle according to the distance between vehicle-to-target object.
Determination unit 122 determines the mode of the distance between signal projector 11 and signal receiver 121 according to the signal
Can there are many, for example, can determine in the following way：
Increase launch time when emitting the signal in the signal emitted in signal projector 11, it can be according to the transmitting
The intrinsic transmission speed of receiving time and signal when time, the reception signal of signal receiver 121, to determine that signal emits
The distance between device 11 and signal receiver 121.
For example, signal projector 11 emit signal when launch time for 9 points 20 seconds 15 minutes, signal receiver 121 receives
The receiving time during signal for 9 points 21 seconds 15 minutes, the intrinsic transmission speed of signal is v, can according to the launch time, this connects
Between time receiving and v calculates the distance between signal projector 11 and signal receiver 121.
In general, different types of signal usually has corresponding different intrinsic transmission speed, such as, ultrasonic signal is in sky
Transmission speed in gas is usually 340 metre per second (m/s)s, which can be referred to as the intrinsic transmission speed of ultrasonic signal；Electricity
The aerial transmission speed of magnetostatic wave signal is generally approximate the light velocity, is referred to as the intrinsic transmission speed etc. of electromagnetic wave signal.
It is this by increasing launch time in the signal so that determination unit 122 can be according to launch time, receiving time
And the intrinsic transmission speed of signal, to determine that signal projector 11 and the mode of the distance between signal receiver 121 are usual
It is easily achieved, and also allows for practical application.
In addition, after the distance between signal projector 11 and signal receiver 121 is determined, it can be according to the distance controlling
Vehicle compared with target object traveling.In practical applications, according to the difference of vehicle, according to the traveling of the distance controlling vehicle
Mode there are many,
For example, for the vehicle of pilot steering, determine between signal projector 11 and signal receiver 121 away from
From rear, which can be prompted to driver, after knowing the distance so as to driver, according to the distance controlling vehicle
Traveling.Also, the mode for prompting the distance to driver can be prompted by the form that sound is reported, can also incited somebody to action
The distance is shown by display screen (middle control screen of automobile etc.) to driver.
For another example, for automatic driving vehicle (being also sometimes referred to as automatic driving car), in definite signal projector 11
After the distance between signal receiver 121, which can be sent to the automated driving system of automatic driving vehicle (also referred to as
Be Unmanned Systems) so that automated driving system according to the distance, can automatically control the traveling of vehicle.
System 10 provided using the embodiment of the present application, since signal receiver 121 is being received positioned at object
After the signal that signal projector 11 on body is emitted, determination unit 122 can be according to the signal, and accurately definite signal is sent out
The distance between emitter 11 and signal receiver 121, so that the automated driving system of driver or automatic driving vehicle,
Can the problems of the prior art be solved according to the traveling of the distance controlling vehicle.
It should be further noted that in practical applications, when determination unit 122 determines that signal projector 11 connects with signal
When receiving the distance between device 121 more than some value (such as 10 meter), illustrate the distance between vehicle-to-target object farther out, at this time
It for the pulling of pilot steering, can not also be prompted with to user, only when signal projector 11 and signal receive
When the distance between device 121 is less than value (such as 10 meters), just prompted to user so that user can be controlled according to the distance
The traveling of vehicle processed.
In practical applications, when vehicle is needed close to target object, generally for accurately knowing in vehicle travel process,
Timely distance between target object at different moments, the signal projector on target object usually can also repeatedly emit letter
Number.
For example, when vehicle is close to card sender, since vehicle is always in movement, in order to accurately know vehicle in different time points
The instant distance between card sender (for example, 0.5 second, 1 second or other time interval) can be sent once at regular intervals
Signal, so that the signal according to received by different time, to determine the instant distance between target object.
At this point, repeatedly emitting signal by the signal projector being located on target object, signal receiver 121 can receive
These signals so that determination unit 122 determines that signal is sent out when signal receiver 121 receives signal every time, according to the signal
The distance between emitter and signal receiver 121, thus according to these distance controlling vehicles compared with the traveling of target object.
This signal projector repeatedly emits signal, and signal receiver 121 receives these signals, determination unit 122
The mode of multiple distances is determined according to these signals, in practical applications, when vehicle is close to target object, can determine vehicle
With the instant distance of target object, so as to by the instant distance can preferably control vehicle to the close of target object.
In practical applications, multiple signal projectors, these signal projectors can also be usually set on target object
With having correspondence between the signal that is emitted, for example, different signal projector tranmitting frequency section, waveform and/or signal
Different types of signal.
At this point, the signal receiver 121 can be used in receiving the signal that these signal projectors are emitted；
The determination unit 122 can determine corresponding signal projector and the signal respectively according to each signal
The distance between receiver 122 determines the relative position information of the vehicle and the target object, root according to each distance
The minimum range between the vehicle and the target object is determined according to the relative position information, so as to the most narrow spacing according to
From the traveling for controlling the vehicle.
When on target object only there are one signal projector when, be typically only capable to enough determine signal projector and signal receiver
The distance between 121, so as to the traveling according to the distance controlling vehicle.It, can be in object in order to increase the accuracy of control
Multiple signal projectors are set on body, it, can also be according to signal receiver 121 when there is multiple signal projectors on target object
The distance between each signal projector determines the relative position information between vehicle-to-target object (for example, target object
At 15 meters of the southeast of vehicle etc.), the travel direction of vehicle is can be combined with according to the relative position information, determines vehicle edge
The minimum range of travel direction continuation when driving, so as to control the traveling of vehicle according to the minimum range.
Certainly, for the travel direction of vehicle, can be determined according to the self-contained navigation system of vehicle.It is for example, logical
The GPS navigation system for crossing vehicle determines the travel direction of vehicle.
According to the travel direction of the relative position information of vehicle-to-target object and vehicle, vehicle and the target are determined
The mode of minimum range between object can there are many, a kind of common mode can be enumerated here.
As shown in Fig. 2, A points are the position of vehicle, B points are the position of target object, and the direction of ray AC is vehicle
Travel direction, therefore, can be according to the relative position information of vehicle-to-target object and the travel direction of vehicle, by target
Object to travel direction distance on straight line be determined as minimum range between vehicle-to-target object, for example, in Fig. 2
Minimum ranges of the h between vehicle-to-target object.
In addition, after the minimum range between determining vehicle-to-target object, can vehicle be controlled according to the minimum range
Traveling, certainly, according to minimum range control vehicle traveling mode there are many, several common sides can be enumerated here
Formula：
Mode one：When the minimum range is less than default minimum threshold, most narrow spacing described in the vehicle to increase is controlled
From direction running the vehicle is either controlled to brake or forbid adjusting row to the direction for reducing the minimum range
Sail direction.
Default minimum threshold can be set according to safety etc., when the distance between vehicle-to-target object is less than
During the default minimum threshold, traffic accident is likely to result in.
Therefore, when minimum range is less than default minimum threshold, electrical steering power-assisted (Electrical can usually be passed through
Power Steering, EPS), driver is forbidden to adjust travel direction to the direction for reducing minimum range；Certainly, for automatic
Vehicle is driven, when minimum range is less than default minimum threshold, the vehicle can be controlled by automated driving system to increase
The direction running or control vehicle of the minimum range brake.
Pressure sensor usually can be increased on the steering wheel of automatic driving vehicle, driven according to pressure sensor monitoring
Whether member holds steering wheel, can be to driving when driver holds steering wheel, and minimum range is less than default minimum threshold
Member is prompted, and (meanwhile can be forbidden driving by electrical steering power-assisted to adjust travel direction or brake by driver
The person of sailing adjusts travel direction to the direction for reducing minimum range), when driver's hand departure direction disk, and minimum range is less than in advance
If during minimum threshold, direction running or brake of the vehicle to increase minimum range can be controlled by automated driving system.
Mode two：When the minimum range is more than default max-thresholds, most narrow spacing described in the vehicle to reduction is controlled
From direction running or forbid adjusting travel direction to the direction for increasing the minimum range.
The default max-thresholds can also be set in advance according to actual needs, such as, driver drives vehicle and leans on
Nearly card sender, when minimum range is more than default max-thresholds, driver, which may need to get off marry, arrives access card.
Therefore, when minimum range is more than default max-thresholds, can also by electrical steering power-assisted, come forbid driver to
Increase the direction adjustment travel direction of minimum range；Certainly, for automatic driving vehicle, when minimum range is more than default maximum threshold
Value can also control the vehicle to the direction running for reducing the minimum range by automated driving system.
It usually can be specifically two (in target object in general, multiple signal projectors set on target object
Two signal projectors of upper setting), the two signal projectors can be referred to as the first signal projector 111 and the second letter
Number transmitter 112, the signal receiver 121, can receive first signal projector 111 and the secondary signal at this time
Signal (certainly, the first signal projector 111 and the secondary signal transmitter 112 and the letter of each spontaneous emission that transmitter 112 is emitted
There is correspondence) between number；
The determination unit 122, for determining the signal receiver 122 and described first respectively according to corresponding signal
Between the first distance and the signal receiver 122 and the secondary signal transmitter 112 between signal projector 111
Second distance, according to the intrinsic distance, described between first signal projector 111 and the secondary signal transmitter 112
The travel direction of first distance, the second distance and the vehicle is when the definite vehicle is close to the target object
When, the relative position information of the vehicle and the target object, root are determined according to first distance and the second distance
The minimum range between the vehicle and the target object is determined according to the relative position information, so as to the most narrow spacing according to
From the traveling for controlling the vehicle.According to the travel direction of intrinsic distance, the first distance, second distance and vehicle when definite vehicle
When away from target object, the relative position information for determining vehicle-to-target object can not had to.
In practical applications, distance between the first signal projector 111 and secondary signal transmitter 112 can be referred to as
Intrinsic distance, can be determined according to the intrinsic distance, the first distance, the travel direction of second distance and vehicle vehicle whether
Close to target object.As shown in figure 3, A is the first signal projector 111, B is secondary signal transmitter 112, and L1 is the first signal
The distance between transmitter 111 and secondary signal transmitter 112 namely intrinsic distance, L2 for vehicle, send out by the secondary signal in C points
The distance between emitter 112 and signal receiver 122, L3 are vehicle the first signal projector 111 and signal receiver in C points
The distance between 122, L2' be distance of the vehicle in C' points between secondary signal transmitter 112 and signal receiver 122, L3'
For distance of the vehicle in C' points between the first signal projector 111 and signal receiver 122.
Exemplified by when vehicle is in C points, the specific degree of angle δ can be determined according to L1, L2 and L3 by the cosine law at this time
Number according to preset rules, when the specific number of degrees of the δ are more than some threshold value (such as 70 degree or other number of degrees), illustrates vehicle
Close to target object, when the specific number of degrees of the δ are less than the threshold value, illustrate vehicle away from target object.The usual threshold
Value can be measured, such as, δ when can be by the distance between vehicle-to-target object minimum (minimum range), as
The threshold value.Certainly, usually the specific number of degrees of angle η can be determined, according to L1, L2 and L3 by the cosine law so as to according to class
As mode determine the vehicle whether close to target object.
Above-mentioned is that the system 10 provided the embodiment of the present application illustrates, in order to make it easy to understand, can combine below
Example in concrete application scene illustrates again.It is close with automatic driving vehicle (vehicle includes automated driving system)
Card sender takes access card, exemplified by cell.In this example, card sender has two as target object in the card sender
A signal projector is referred to as the first signal projector 111 and secondary signal transmitter 112, is wrapped in automatic driving vehicle
Include device 12.By illustrating with reference to Fig. 4-1 and Fig. 4-2, wherein, Fig. 4-1 is the rearview of automatic driving vehicle, Fig. 4-2
For the top view of automatic driving vehicle.
When driving, the signal receiver 121 of device 12 receives the first signal projector 111 and second to automatic driving vehicle
The signal that signal projector 112 is emitted can determine 121 and first signal projector of signal receiver according to corresponding signal
111 the first distance and signal receiver 121 and the second distance of secondary signal transmitter 112, at this time can be according to first
Distance, second distance, intrinsic distance and automatic driving vehicle travel direction come determine the automatic driving vehicle whether by
Nearly card sender if it is, determining the relative position of automatic driving vehicle and card sender according to the first distance and second distance, leads to
The travel direction that the relative position combines the automatic driving vehicle is crossed, calculates the minimum range H of automatic driving vehicle and card sender,
So that automated driving system according to minimum range H, can control the traveling of automatic driving vehicle so that the automatic Pilot
Vehicle drive to the suitable distance of card sender, in order to obtain access card.Certainly, if it is determined that automatic driving vehicle is separate
Card sender (in figure in 4-2, vehicle is travelled to D positions) can then not have to the opposite position for determining automatic driving vehicle and card sender
It puts.
The embodiment of the present application can also provide a kind of auxiliary driving device for vehicle.As shown in figure 5, the device 20 can
To include：Signal receiver 201 and determination unit 202, wherein：
The signal receiver 201, for receiving the signal that the signal projector being located on target object is emitted；
The determination unit 202, for according to the signal determine the signal projector and the signal receiver it
Between distance, so as to the traveling of the vehicle according to the distance controlling.
Obviously, which can solve the problems of the prior art.In addition, in practical applications, which is led to
The implementation result with reference to acquired by specific hardware device is crossed, also within the protection domain of the application.
Certainly, the embodiment of the present application can also provide a kind of vehicle, and the vehicle includes the embodiment of the present application and provided
Described device 20, therefore the problems of the prior art can be solved.
In addition, in practical applications, which can also include the switch for being turned on and off the device 20.User can
To be turned on or off the device 20 by the switch, to be suitable for different scenes.Such as user need not lean on close-target
During object, can by the switch shutoff device 20, in order to avoid the device 20 use consumption vehicle in electricity.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware can be used in the application
Apply the form of example.Moreover, the computer for wherein including computer usable program code in one or more can be used in the application
The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
It will be understood by those skilled in the art that embodiments herein can be provided as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or the embodiment in terms of combining software and hardware can be used in the application
Form.It is deposited moreover, the application can be used to can use in one or more computers for wherein including computer usable program code
The shape for the computer program product that storage media is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
It these are only embodiments herein, be not limited to the application.To those skilled in the art,
The application can have various modifications and variations.All any modifications made within spirit herein and principle, equivalent substitution,
Improve etc., it should be included within the scope of claims hereof.
Claims (11)
1. a kind of DAS (Driver Assistant System) for vehicle, which is characterized in that the system comprises：Signal on target object
Transmitter and the auxiliary driving device on vehicle, wherein：
The signal projector, for emitting signal；
The auxiliary driving device includes：Signal receiver and determination unit, wherein：The signal receiver, for receiving
The signal that the signal projector is emitted；The determination unit, for according to the signal determine the signal projector with
The distance between described signal receiver, so as to the traveling of the vehicle according to the distance controlling.
2. system as described in claim 1, which is characterized in that the signal that the signal projector is emitted is included described in transmitting
Launch time during signal；Then,
The distance between the signal projector and the signal receiver are determined according to the signal, specifically included：According to institute
Receiving time, the intrinsic transmission speed of the launch time and the signal when signal receiver receives the signal are stated,
Determine the distance between the signal projector and the signal receiver.
3. system as described in claim 1, which is characterized in that include multiple signal projectors on the target object, it is each described
Signal projector and the signal emitted have correspondence；Then,
The signal receiver, for receiving the signal that each signal projector is emitted；
The determination unit, for according to each signal determine respectively corresponding signal projector and the signal receiver it
Between distance, the relative position information of the vehicle and the target object is determined according to each distance, according to described opposite
Location information determines the minimum range between the vehicle and the target object, so as to according to minimum range control
The traveling of vehicle.
4. system as claimed in claim 3, which is characterized in that the traveling of the vehicle is controlled according to the minimum range, specifically
Including any one following：
When the minimum range is less than default minimum threshold, the vehicle is controlled to the direction row for increasing the minimum range
It sails；
When the minimum range is less than default minimum threshold, the vehicle is controlled to brake；
When the minimum range is less than default minimum threshold, forbid adjusting traveling side to the direction for reducing the minimum range
To.
5. system as claimed in claim 3, which is characterized in that according to the traveling of vehicle described in the distance controlling, specifically include
Any one following：
When the minimum range is more than default max-thresholds, the vehicle is controlled to the direction row for reducing the minimum range
It sails；
When the minimum range is more than default max-thresholds, forbid adjusting traveling side to the direction for increasing the minimum range
To.
6. system as claimed in claim 3, which is characterized in that the vehicle and the mesh are determined according to the relative position information
The minimum range between object is marked, is specifically included：
It is determined according to the travel direction of the relative position information and the vehicle between the vehicle and the target object
Minimum range.
7. system as claimed in claim 3, which is characterized in that
Each signal projector is respectively the first signal projector and secondary signal transmitter；Then,
The signal receiver, for receiving the letter that first signal projector and the secondary signal transmitter are emitted
Number；
The determination unit, for determining the signal receiver and first signal projector respectively according to corresponding signal
Between the first distance and the second distance between the signal receiver and the secondary signal transmitter, according to described the
Intrinsic distance, first distance, the second distance between one signal projector and the secondary signal transmitter and
The travel direction of the vehicle is when the definite vehicle is when close to the target object, according to first distance and described the
Two distances determine the relative position information of the vehicle and the target object, and the vehicle is determined according to the relative position information
Minimum range between the target object, to control the traveling of the vehicle according to the minimum range.
8. system as claimed in claim 3, which is characterized in that the signal that each signal projector on the target object is emitted
Between frequency band and/or waveform it is different.
9. system as described in claim 1, which is characterized in that the signal projector is used to emit ultrasonic signal or electromagnetic wave
Signal.
10. a kind of auxiliary driving device for vehicle, which is characterized in that described device includes：Signal receiver and determine
Unit, wherein：
The signal receiver, for receiving the signal that the signal projector being located on target object is emitted；
The determination unit, for according to the signal determine between the signal projector and the signal receiver away from
From so as to the traveling of the vehicle according to the distance controlling.
11. a kind of vehicle, which is characterized in that the vehicle includes claim 10 described device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611042146.8A CN108116407A (en) | 2016-11-11 | 2016-11-11 | A kind of vehicle, auxiliary driving device and system for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611042146.8A CN108116407A (en) | 2016-11-11 | 2016-11-11 | A kind of vehicle, auxiliary driving device and system for vehicle |
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| Publication Number | Publication Date |
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| CN108116407A true CN108116407A (en) | 2018-06-05 |
Family
ID=62223532
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611042146.8A Withdrawn CN108116407A (en) | 2016-11-11 | 2016-11-11 | A kind of vehicle, auxiliary driving device and system for vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109298711A (en) * | 2018-09-26 | 2019-02-01 | 北京洪泰同创信息技术有限公司 | Intelligentized Furniture, transmitter and intelligentized Furniture control system |
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