CN109291922A - A kind of automatic identification small obstacle and the driving assistance system braked and control method - Google Patents
A kind of automatic identification small obstacle and the driving assistance system braked and control method Download PDFInfo
- Publication number
- CN109291922A CN109291922A CN201811155021.5A CN201811155021A CN109291922A CN 109291922 A CN109291922 A CN 109291922A CN 201811155021 A CN201811155021 A CN 201811155021A CN 109291922 A CN109291922 A CN 109291922A
- Authority
- CN
- China
- Prior art keywords
- barrier
- test pattern
- vehicle
- size
- ground
- 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.)
- Granted
Links
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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Abstract
The invention discloses a kind of automatic identification small obstacle and the driving assistance system braked and control methods.It includes projecting unit, for projecting test pattern to vehicle front ground；Receiving unit, height of the receiving unit apart from ground are higher than height of the projecting unit apart from ground, the reflective graphics generated on vehicle front ground or barrier for receiving test pattern；Control unit, for judging whether vehicle front has barrier according to test pattern and reflective graphics, the size of barrier and the position of barrier relative vehicle are determined when there is barrier, and are determined whether to control vehicle deceleration braking or turning avoidance according to the size of barrier.Driving assistance system of the present invention utilizes the deformation of test pattern on opposed flattened road surface on the road surface for having small obstacle, come position and obstacle height or the depth of disturbance in judgement object relative vehicle, and then vehicle deceleration braking or turning avoidance are controlled, effectively increase drive safety and comfort.
Description
Technical field
The invention belongs to automobile technical fields, and in particular to a kind of automatic identification small obstacle and the driving braked auxiliary
System and control method.
Background technique
Current vehicle low speed collision avoidance system although may be implemented automatic retarding but be only capable of identification traffic etc. compared with
Big object, can not identifying height, it is even more impossible to identify that road is cheated in the barrier of 10cm or so.Some national highway provincial highways or other
On the paved road of some non-close, it will usually have some broken holes perhaps the barriers such as stone speed is very fast or illumination item
In the case that part is poor, driver is difficult to identify and slow down in advance in time, not only can be right when passing through these small obstacles at a high speed
Passenger causes severe turbulence that can also cause certain damage to vehicle.
Summary of the invention
The object of the invention is to provide a kind of small-sized barrier of automatic identification to solve deficiency existing for above-mentioned background technique
The driving assistance system and control method for hindering object and braking.
The technical solution adopted by the present invention is that: a kind of automatic identification small obstacle and the driving assistance system braked, packet
It includes
Projecting unit is installed on front of the car, for projecting test pattern to vehicle front ground；
Receiving unit, is installed on front of the car, and height of the receiving unit apart from ground is higher than projecting unit apart from ground
Highly, the reflective graphics generated on vehicle front ground or barrier for receiving test pattern, are sent to control unit；
Control unit, for judging whether vehicle front has barrier according to test pattern and reflective graphics, when there is obstacle
The size of barrier and the position of barrier relative vehicle are determined when object, and are determined whether to control vehicle according to the size of barrier
Retarding braking or turning avoidance.
Further, the method for judging vehicle front and whether having barrier are as follows: by reflective graphics and test pattern into
Row compares, when a certain region occurred in reflective graphics is equivalent to the feelings that corresponding the same area is deformed in test pattern
Condition, it is determined that vehicle front has barrier.
Further, the method for the position of the determining barrier relative vehicle are as follows:, will using test pattern center as origin
Test pattern, reflective graphics and front of the car profile are placed in the same coordinate system, in the region being deformed on reflective graphics away from
Farthest from origin is a little barrier position, and definition barrier position is the first coordinate, is defined in front of the car
Heart position is the second coordinate, according to the position of the first coordinate and the second coordinate in a coordinate system, is determined by geometrical principle
The position of barrier relative vehicle.
Further, it is determined that the method for the size of barrier are as follows: be calculated by the following formula multiple part positions on barrier
Size c is set, the order of magnitude of more multiple local location sizes is maximized the size as barrier,
C=a* [tan (γ-α)/tan (γ-β) -1]/[1-a*tan (γ-α)/b*tan (γ-β)],
Wherein a is height of the projecting unit apart from ground, and b is height of the receiving unit apart from ground, and c is barrier part
Position dimension, α are that receiving unit optical axis is corresponding with each crosspoint in the reflective graphics on the road surface there are barrier anti-
Angle between ray, β are the reflection corresponding with crosspoint each in the reflective graphics on smooth-riding surface of receiving unit optical axis
Angle between line, angle of the γ between receiving unit optical axis and vertical direction, δ are each crosspoint pair in test pattern
The angle between incident ray and vertical direction answered.
Further, when the size of barrier is more than or equal to setting value, control vehicle deceleration is braked or according to barrier
The position control Vehicular turn of relative vehicle avoids, and when the size of barrier is less than setting value, controls normal vehicle operation.
Further, the barrier is object or the road hole for protruding from ground, the size of barrier be object height or
Cheat depth in road.
Further, the difference in height of the projecting unit and receiving unit apart from ground is 0.5-1.5m.
Further, the projecting unit and receiving unit are located on same perpendicular.
Further, the test pattern is lattice-like pattern.
Further, the receiving unit is camera.
A kind of automatic identification small obstacle and the driving auxiliary control method braked, process are as follows: to vehicle front ground
Test pattern is projected, the reflective graphics that test pattern generates on vehicle front ground or barrier are received, according to test pattern
Judge whether vehicle front has barrier with reflective graphics, the size and barrier that barrier is determined when there is barrier are with respect to vehicle
Position, and according to the size of barrier determine whether control vehicle deceleration braking or turning avoidance.
Further, the method for judging vehicle front and whether having barrier are as follows: by reflective graphics and test pattern into
Row compares, when a certain region occurred in reflective graphics is equivalent to the feelings that corresponding the same area is deformed in test pattern
Condition, it is determined that vehicle front has barrier.
Further, the method for the position of the determining barrier relative vehicle are as follows:, will using test pattern center as origin
Test pattern, reflective graphics and front of the car profile are placed in the same coordinate system, in the region being deformed on reflective graphics away from
Farthest from origin is a little barrier position, and definition barrier position is the first coordinate, is defined in front of the car
Heart position is the second coordinate, according to the position of the first coordinate and the second coordinate in a coordinate system, is determined by geometrical principle
The position of barrier relative vehicle.
Further, it is determined that the method for the size of barrier are as follows: be calculated by the following formula multiple part positions on barrier
Size c is set, the order of magnitude of more multiple local location sizes is maximized the size as barrier,
C=a* [tan (γ-α)/tan (γ-β) -1]/[1-a*tan (γ-α)/b*tan (γ-β)],
Wherein a is height of the projecting unit apart from ground, and b is height of the receiving unit apart from ground, and c is barrier part
Position dimension, α are that receiving unit optical axis is corresponding with each crosspoint in the reflective graphics on the road surface there are barrier anti-
Angle between ray, β are the reflection corresponding with crosspoint each in the reflective graphics on smooth-riding surface of receiving unit optical axis
Angle between line, angle of the γ between receiving unit optical axis and vertical direction, δ are each crosspoint pair in test pattern
The angle between incident ray and vertical direction answered.
Further, when the size of barrier is more than or equal to setting value, control vehicle deceleration is braked or according to obstacle
The position control Vehicular turn of object relative vehicle avoids, and when the size of barrier is less than setting value, controls normal vehicle operation.
Driving assistance system of the present invention utilizes the change of test pattern on opposed flattened road surface on the road surface for having small obstacle
Shape, comes position and obstacle height or the depth of disturbance in judgement object relative vehicle, and then controls vehicle deceleration braking or turn to
Evacuation has achieved the purpose that avoiding high speed from breaking the barriers security risk occurs, effectively increases drive safety and comfort.
Detailed description of the invention
Fig. 1 is system principle schematic diagram of the invention.
Fig. 2 is the schematic diagram of test pattern.
Fig. 3 is that barrier size of the present invention determines schematic illustration.
Fig. 4 is the schematic diagram of reflective graphics.
Specific embodiment
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments, convenient for this hair is well understood
It is bright, but they limiting the invention.
As shown in Figure 1, a kind of automatic identification small obstacle of the present invention and the driving assistance system of braking, including
Projecting unit 2 is installed on 1 front end of vehicle, can be laser, for projecting test pattern to vehicle front ground
4, test pattern 4 can be rectangular mesh shape figure, as shown in Fig. 2, being also possible to other figures.
Receiving unit 3 is installed on 1 front end of vehicle, can be camera, and height of the receiving unit 3 apart from ground, which is higher than, throws
Height of the unit 2 apart from ground is penetrated, be staggered certain position in height, it can be ensured that transmitting light and reflection light exist centainly
Differential seat angle；Receiving unit 3 is sent for receiving the reflective graphics 5 that test pattern 4 generates on vehicle front ground or barrier
To control unit；Projecting unit and receiving unit are located on same perpendicular, and projecting unit and receiving unit are apart from ground
Difference in height is 0.5-1.5m, and specific height is according to depending on the height of vehicle.
Control unit (not shown) is the body control system in vehicle, for according to test pattern and reflectogram
Shape judges whether vehicle front has barrier, and the size and barrier relative vehicle of barrier are determined when judgement has barrier
Position, and determined whether to control vehicle deceleration braking or turning avoidance according to the size of barrier, when the size of barrier is greater than
When equal to setting value, control vehicle deceleration is braked or is avoided according to the position control Vehicular turn of barrier relative vehicle, works as barrier
When the size of object being hindered to be less than setting value, normal vehicle operation is controlled.Barrier can be object or the road hole for protruding from ground, barrier
The size for hindering object is that depth is cheated on object height or road.
The present invention also provides a kind of controls of driving assistance system based on above-mentioned automatic identification small obstacle and braking
Method, process are as follows: test pattern is projected to vehicle front ground by projecting unit, receiving unit receives test pattern in vehicle
The reflective graphics generated on front ground or barrier, control unit judge that vehicle front is according to test pattern and reflective graphics
It is no to have barrier, the size of barrier and the position of barrier relative vehicle are determined when there is barrier, and according to barrier
Size determines whether to control vehicle deceleration braking or turning avoidance, when the size of barrier is more than or equal to setting value, control vehicle
Retarding braking is avoided according to the position control Vehicular turn of barrier relative vehicle, when the size of barrier is less than setting value
When, control normal vehicle operation.
In above scheme, due to receiving unit optical axis and there are between the reflected ray on the road surface of barrier angle with
It is corresponding in receiving unit shooting there are certain differential seat angle between reflected ray on receiving unit optical axis and smooth-riding surface
Certain distance is generated on picture, this will lead to picture relative standard's figure that receiving unit is shot on the road surface for have barrier
Modification is generated, modification is bigger to illustrate that road hole or stone are bigger, therefore judges whether vehicle front has the method for barrier
Are as follows: reflective graphics are compared with test pattern, when occur a certain region in reflective graphics be equivalent to it is right in test pattern
The case where the same area answered is deformed, it is determined that vehicle front has barrier.As shown in figure 4, typically having for one
The distorted region of the schematic diagram of the reflective graphics captured on one cylinder road surface Lu Keng, recess is bent to vehicle front.
In above scheme, the method that determines the position of barrier relative vehicle are as follows: using test pattern center as origin, will mark
Quasi- figure, reflective graphics and front of the car profile are placed in the same coordinate system, in the region 11 being deformed on reflective graphics away from
Farthest from origin is a little barrier position, and definition barrier position is the first coordinate, is defined in front of the car
Heart position is the second coordinate, according to the position of the first coordinate and the second coordinate in a coordinate system, is determined by geometrical principle
The position of barrier relative vehicle.
In above scheme, as shown in figure 3, the method for determining the size of barrier are as follows: be calculated by the following formula barrier
Upper multiple local location size c, the order of magnitude of more multiple local location sizes are maximized the ruler as barrier
It is very little,
C=a* [tan (γ-α)/tan (γ-β) -1]/[1-a*tan (γ-α)/b*tan (γ-β)],
Wherein a is height of the projecting unit 2 apart from ground, and b is height of the receiving unit 3 apart from ground, and c is barrier 10
Local location size, α are that receiving unit optical axis 9 is corresponding with each crosspoint in the reflective graphics on the road surface there are barrier
Reflected ray 8 between angle, β be receiving unit optical axis 9 it is corresponding with each crosspoint in the reflective graphics on smooth-riding surface
Reflected ray 7 between angle, angle of the γ between receiving unit optical axis and vertical direction, δ is each in test pattern
Angle between the corresponding incident ray 6 in crosspoint and vertical direction.
The content being not described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (13)
1. a kind of automatic identification small obstacle and the driving assistance system braked, it is characterised in that: including
Projecting unit is installed on front of the car, for projecting test pattern to vehicle front ground；
Receiving unit is installed on front of the car, and height of the receiving unit apart from ground is higher than height of the projecting unit apart from ground,
The reflective graphics generated on vehicle front ground or barrier for receiving test pattern, are sent to control unit；
Control unit, for judging whether vehicle front has barrier according to test pattern and reflective graphics, when there is barrier
It determines the size of barrier and the position of barrier relative vehicle, and is determined whether to control vehicle deceleration according to the size of barrier
Braking or turning avoidance.
2. automatic identification small obstacle according to claim 1 and the driving assistance system braked, it is characterised in that: institute
State the method for judging whether vehicle front has barrier are as follows: be compared reflective graphics with test pattern, when there is reflectogram
A certain region in shape is equivalent to the case where corresponding the same area is deformed in test pattern, it is determined that vehicle front has barrier
Hinder object.
3. automatic identification small obstacle according to claim 1 and the driving assistance system braked, it is characterised in that: institute
The method for stating the position of determining barrier relative vehicle are as follows: using test pattern center as origin, by test pattern, reflective graphics and
Front of the car profile is placed in the same coordinate system, in the region that is deformed on reflective graphics apart from origin it is farthest be some barrier
Hindering object position, definition barrier position is the first coordinate, and definition front of the car center position is the second coordinate,
According to the position of the first coordinate and the second coordinate in a coordinate system, the position of barrier relative vehicle is determined by geometrical principle.
4. automatic identification small obstacle according to claim 1 and the driving assistance system braked, it is characterised in that: really
Determine the method for the size of barrier are as follows: be calculated by the following formula multiple local location size c, more multiple parts on barrier
The order of magnitude of position dimension is maximized the size as barrier,
C=a* [tan (γ-α)/tan (γ-β) -1]/[1-a*tan (γ-α)/b*tan (γ-β)],
Wherein a is height of the projecting unit apart from ground, and b is height of the receiving unit apart from ground, and c is barrier local location
Size, α are receiving unit optical axis reflected ray corresponding with crosspoint each in the reflective graphics on the road surface there are barrier
Between angle, β be receiving unit optical axis reflected ray corresponding with crosspoint each in the reflective graphics on smooth-riding surface it
Between angle, angle of the γ between receiving unit optical axis and vertical direction, δ be test pattern in each crosspoint it is corresponding
Angle between incident ray and vertical direction.
5. automatic identification small obstacle according to claim 1 and the driving assistance system braked, it is characterised in that: when
When the size of barrier is more than or equal to setting value, the braking of control vehicle deceleration or the position control vehicle according to barrier relative vehicle
Turning avoidance controls normal vehicle operation when the size of barrier is less than setting value.
6. automatic identification small obstacle according to claim 1 and the driving assistance system braked, it is characterised in that: institute
Stating barrier is object or the road hole for protruding from ground, and the size of barrier is that depth is cheated on object height or road.
7. automatic identification small obstacle according to claim 1 and the driving assistance system braked, it is characterised in that: institute
Stating the difference in height of projecting unit and receiving unit apart from ground is 0.5-1.5m.
8. automatic identification small obstacle according to claim 1 and the driving assistance system braked, it is characterised in that: institute
It states projecting unit and receiving unit is located on same perpendicular.
9. a kind of automatic identification small obstacle and the driving auxiliary control method braked, it is characterised in that: to vehicle front
Face projects test pattern, the reflective graphics that test pattern generates on vehicle front ground or barrier is received, according to standard drawing
Shape and reflective graphics judge whether vehicle front has barrier, determine that the size of barrier and barrier are opposite when there is barrier
The position of vehicle, and determined whether to control vehicle deceleration braking or turning avoidance according to the size of barrier.
10. driving auxiliary control method according to claim 9, it is characterised in that: described to judge whether vehicle front has
The method of barrier are as follows: be compared reflective graphics with test pattern, when a certain region occurred in reflective graphics is equivalent to
The case where corresponding the same area is deformed in test pattern, it is determined that vehicle front has barrier.
11. driving auxiliary control method according to claim 9, it is characterised in that: the determining barrier relative vehicle
Position method are as follows: using test pattern center as origin, by test pattern, reflective graphics and front of the car profile place it is same
In coordinate system, in the region that is deformed on reflective graphics apart from origin it is farthest be some barrier position, definition barrier
Hindering object position is the first coordinate, and definition front of the car center position is the second coordinate, according to the first coordinate and second
The position of coordinate in a coordinate system, the position of barrier relative vehicle is determined by geometrical principle.
12. driving auxiliary control method according to claim 9, it is characterised in that: the method for determining the size of barrier
Are as follows: it is big to be calculated by the following formula multiple local location size c, the absolute value of more multiple local location sizes on barrier
It is small, it is maximized the size as barrier,
C=a* [tan (γ-α)/tan (γ-β) -1]/[1-a*tan (γ-α)/b*tan (γ-β)],
Wherein a is height of the projecting unit apart from ground, and b is height of the receiving unit apart from ground, and c is barrier local location
Size, α are receiving unit optical axis reflected ray corresponding with crosspoint each in the reflective graphics on the road surface there are barrier
Between angle, β be receiving unit optical axis reflected ray corresponding with crosspoint each in the reflective graphics on smooth-riding surface it
Between angle, angle of the γ between receiving unit optical axis and vertical direction, δ be test pattern in each crosspoint it is corresponding
Angle between incident ray and vertical direction.
13. driving auxiliary control method according to claim 9, it is characterised in that: when the size of barrier is more than or equal to
When setting value, control vehicle deceleration is braked or is avoided according to the position control Vehicular turn of barrier relative vehicle, works as barrier
Size be less than setting value when, control normal vehicle operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811155021.5A CN109291922B (en) | 2018-09-30 | 2018-09-30 | Driving assistance system capable of automatically identifying small-sized obstacles and braking and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811155021.5A CN109291922B (en) | 2018-09-30 | 2018-09-30 | Driving assistance system capable of automatically identifying small-sized obstacles and braking and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109291922A true CN109291922A (en) | 2019-02-01 |
| CN109291922B CN109291922B (en) | 2020-08-07 |
Family
ID=65161258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811155021.5A Active CN109291922B (en) | 2018-09-30 | 2018-09-30 | Driving assistance system capable of automatically identifying small-sized obstacles and braking and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109291922B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111582173A (en) * | 2020-05-08 | 2020-08-25 | 东软睿驰汽车技术（沈阳）有限公司 | Automatic driving method and system |
| CN112449164A (en) * | 2019-09-04 | 2021-03-05 | 施蒂尔有限公司 | Method for locating a vehicle and vehicle for carrying out the method |
| CN112606836A (en) * | 2020-12-29 | 2021-04-06 | 科大讯飞股份有限公司 | Driving assistance method and system |
| CN112644483A (en) * | 2020-12-24 | 2021-04-13 | 宝能(西安)汽车研究院有限公司 | Vehicle speed control method, readable storage medium, vehicle speed control device and vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1813168A (en) * | 2003-08-28 | 2006-08-02 | 奥林巴斯株式会社 | Object recognition apparatus |
| CN101363729A (en) * | 2007-08-06 | 2009-02-11 | 日产自动车株式会社 | Distance measurement method and device and vehicle equipped with said device |
| CN102508246A (en) * | 2011-10-13 | 2012-06-20 | 吉林大学 | Method for detecting and tracking obstacles in front of vehicle |
| US20150019120A1 (en) * | 2013-07-12 | 2015-01-15 | Hyundai Motor Company | Apparatus and method for driving guide of vehicle |
| CN104964672A (en) * | 2015-06-29 | 2015-10-07 | 济南大学 | Long-distance obstacle perception sensor based on line structured light |
| CN105292085A (en) * | 2015-11-02 | 2016-02-03 | 清华大学苏州汽车研究院（吴江） | Vehicle forward collision avoidance system based on infrared laser aid |
| CN105321353A (en) * | 2014-06-24 | 2016-02-10 | 罗伯特·博世有限公司 | Method for detecting a roadway and corresponding detection systems |
| CN105539404A (en) * | 2015-12-31 | 2016-05-04 | 清华大学苏州汽车研究院（吴江） | Target detection prewarning and auxiliary braking system for parking |
-
2018
- 2018-09-30 CN CN201811155021.5A patent/CN109291922B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1813168A (en) * | 2003-08-28 | 2006-08-02 | 奥林巴斯株式会社 | Object recognition apparatus |
| CN101363729A (en) * | 2007-08-06 | 2009-02-11 | 日产自动车株式会社 | Distance measurement method and device and vehicle equipped with said device |
| CN102508246A (en) * | 2011-10-13 | 2012-06-20 | 吉林大学 | Method for detecting and tracking obstacles in front of vehicle |
| US20150019120A1 (en) * | 2013-07-12 | 2015-01-15 | Hyundai Motor Company | Apparatus and method for driving guide of vehicle |
| CN105321353A (en) * | 2014-06-24 | 2016-02-10 | 罗伯特·博世有限公司 | Method for detecting a roadway and corresponding detection systems |
| CN104964672A (en) * | 2015-06-29 | 2015-10-07 | 济南大学 | Long-distance obstacle perception sensor based on line structured light |
| CN105292085A (en) * | 2015-11-02 | 2016-02-03 | 清华大学苏州汽车研究院（吴江） | Vehicle forward collision avoidance system based on infrared laser aid |
| CN105539404A (en) * | 2015-12-31 | 2016-05-04 | 清华大学苏州汽车研究院（吴江） | Target detection prewarning and auxiliary braking system for parking |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112449164A (en) * | 2019-09-04 | 2021-03-05 | 施蒂尔有限公司 | Method for locating a vehicle and vehicle for carrying out the method |
| CN112449164B (en) * | 2019-09-04 | 2024-04-30 | 施蒂尔有限公司 | Method for locating a vehicle and vehicle for carrying out the method |
| CN111582173A (en) * | 2020-05-08 | 2020-08-25 | 东软睿驰汽车技术（沈阳）有限公司 | Automatic driving method and system |
| CN112644483A (en) * | 2020-12-24 | 2021-04-13 | 宝能(西安)汽车研究院有限公司 | Vehicle speed control method, readable storage medium, vehicle speed control device and vehicle |
| CN112606836A (en) * | 2020-12-29 | 2021-04-06 | 科大讯飞股份有限公司 | Driving assistance method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109291922B (en) | 2020-08-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109291922A (en) | A kind of automatic identification small obstacle and the driving assistance system braked and control method | |
| CN107031625B (en) | Vehicle anticollision auxiliary system | |
| CN103847667B (en) | The driving support control apparatus of vehicle | |
| CN107428301B (en) | Drive assistance device and driving assistance method | |
| US7782179B2 (en) | Obstacle detection apparatus | |
| CN110045736B (en) | Bend obstacle avoiding method based on unmanned aerial vehicle | |
| CN111899562A (en) | Vehicle meeting prompting method for curve blind area | |
| CN101870293A (en) | Vehicle driving state evaluating method based on road-switching behavior detection | |
| CN111060911A (en) | Vehicle anti-collision recognition method based on scene analysis | |
| US20030167123A1 (en) | Vehicle control apparatus | |
| CN114312772B (en) | Safe driving control method in zebra crossing scene | |
| EP3453582A1 (en) | Driving support apparatus | |
| US20210300360A1 (en) | Warning System for a Host Automotive Vehicle | |
| CN112026761A (en) | Automobile auxiliary driving method based on data sharing | |
| CN202345598U (en) | Track change danger early-warning device for vehicles | |
| Zhao et al. | Analysis of mandatory and discretionary lane change behaviors for heavy trucks | |
| EP0720075B1 (en) | Off-lane alarm apparatus | |
| CN112622937A (en) | Pass right decision method for automatically driving automobile in face of pedestrian | |
| CN111260958A (en) | Method and system for early warning of vehicles behind traffic abnormal points on highway | |
| CN113665578A (en) | Pavement pit avoiding system based on vision system and millimeter wave radar | |
| JP2019093957A (en) | Vehicle control device | |
| CN116001678A (en) | Pedestrian protection system for carrying out man-machine interaction outside vehicle based on intelligent projection | |
| CN211555116U (en) | Laser barrier gate | |
| CN109887334A (en) | Vehicle drive assist system and method | |
| US7432490B2 (en) | Method and apparatus for detecting an object in a motor vehicle environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |