CN109305164A - 用于车辆的紧急制动预备系统 - Google Patents
用于车辆的紧急制动预备系统 Download PDFInfo
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- CN109305164A CN109305164A CN201810799360.0A CN201810799360A CN109305164A CN 109305164 A CN109305164 A CN 109305164A CN 201810799360 A CN201810799360 A CN 201810799360A CN 109305164 A CN109305164 A CN 109305164A
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- emergency braking
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- brake
- travel
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- 238000001514 detection method Methods 0.000 claims abstract description 64
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 230000003068 static effect Effects 0.000 claims description 11
- 230000007613 environmental effect Effects 0.000 claims 2
- 238000007689 inspection Methods 0.000 claims 1
- 238000002360 preparation method Methods 0.000 description 12
- 230000001965 increasing effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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Classifications
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- 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
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Abstract
一种用于车辆的紧急制动预备系统可以包括:车辆速度检测器,被配置为检测车辆速度;行驶道路检测器,被配置为检测行驶道路的类型;周围环境检测器,被配置为检测车辆的周围环境;紧急制动控制器,被配置为将制动器的制动压力控制为预设的制动状态;以及控制器,被配置为根据由车辆检测单元检测的车辆速度、由行驶道路检测单元检测的行驶道路、以及由周围环境检测单元检测的周围环境中的一者或多者来控制摄像机的视野,并且控制器被配置为根据摄像机的视野控制紧急制动控制器。
Description
相关申请的引用
本申请要求于2017年7月28日提交的韩国专利申请号10-2017-0095854的优先权和权益,出于所有目的,通过引用将其结合在此,如同此处阐述一样。
技术领域
本发明涉及一种用于车辆的紧急制动预备装置,并且更具体地,涉及这样一种用于车辆的紧急制动预备装置,即,根据车辆的行驶速度、行驶道路、以及行驶环境,该紧急制动预备装置调整摄像机的视野(FOV),并且基于FOV以步进式方式控制制动压力。
背景技术
随着对车辆的安全性能的需求的增加,最近,在车辆中已经安装了各种类型的安全设备。
安全设备可以包括自主紧急制动(AEB)系统。
AEB系统能判断是否需要突发制动并且在紧急情形期间制动车辆,由此防止在行驶期间与另一车辆或行人发生碰撞。AEB系统是欧洲NCAP(欧洲新车评估计划)鼓励用户安装的安全设备之一。
为了判断是否发生紧急情形或车辆前方是否存在障碍物,在行驶期间,AEB系统需要持续监控或观察车辆的前方道路。
然而,因为用于观察前方道路的摄像机具有预定的FOV,所以难以使得摄像机在各种行驶条件下维持适当的观察范围。
因此,可以调整摄像机的FOV来维持适当的观察范围。然而,在这种情况下,因为仅考虑车辆的行驶速度来调整FOV,所以不可以识别行人。
于2012年11月21日公布并且题为“成像设备、成像方法、以及图像信息提取设备”的韩国专利公布号10-2012-0126152中公开了本发明的相关技术。
该背景部分中公开的上述信息仅用于增强对本发明的背景的理解并且因此其可以包含并不构成现有技术的信息。
发明内容
本发明的示例性实施方式提供一种用于车辆的紧急制动预备装置,该紧急制动预备装置根据车辆的行驶速度、行驶道路、以及行驶环境来调整摄像机的FOV并且基于FOV以步进式方式控制制动压力。
在一个实施方式中,用于车辆的紧急制动预备系统可以包括:车辆速度检测器,被配置为检测车辆的速度;行驶道路检测器,被配置为检测行驶道路的类型;周围环境检测器,被配置为检测所述车辆的周围环境;以及控制器,被配置为根据由车辆速度检测器检测的速度、由行驶道路检测器检测的行驶道路的类型、和/或由周围环境检测器检测的周围环境来改变摄像机的FOV;以及紧急制动控制器,被配置为根据摄像机的FOV控制制动器的制动压力。
控制器可以被配置为基于由周围环境检测器检测的移动目标和静止目标的数量判断是否存在交通拥堵并且判断行人信息是否满足预定的行人条件,并且控制器被配置为根据所判断的交通拥堵和行人信息条件中的一者或多者来控制摄像机的FOV。
当存在交通拥堵并且行人信息满足预定的行人条件时,控制器可以被配置为缩小摄像机的FOV。
当存在交通拥堵并且行人信息不满足预定的行人条件时,控制器可以被配置为扩大摄像机的FOV。
当判断行人信息是否满足预定的行人条件时,控制器可以被配置为判断判断行人的数量是否等于或大于预设的阈值(threshold value)或者判断行人的曝光时间是否等于或大于预设的阈时间(threshold time)。
控制器可以被配置为基于由周围环境检测器检测的移动目标和静止目标的数量判断是否存在交通拥堵并且判断由行驶道路检测器检测的行驶道路的类型是否是高速公路,并且控制器可以被配置为根据所判断的交通拥堵和行驶道路条件中的一者或多者来控制摄像机的FOV。
当不存在交通拥堵并且行驶道路的类型不是高速公路时,控制器可以被配置为缩小摄像机的FOV。
控制器可以被配置为判断由行驶道路检测器检测的行驶道路是否是高速公路、判断由车辆速度检测器检测的速度是否等于或大于预定的阈速度,并且控制器可以被配置为根据所判断的行驶道路的类型和车辆速度条件中的一者或多者来控制摄像机的FOV。
当行驶道路的类型是高速公路并且由车辆速度检测器检测的速度等于或大于预定的阈速度时,控制器可以被配置为扩大摄像机的FOV。
当行驶道路的类型是高速公路并且由车辆速度检测器检测的速度小于预定的阈速度时,控制器可以被配置为缩小摄像机的FOV。
控制器可以被配置为根据是否扩大或缩小摄像机的FOV而通过紧急制动控制器以步进式方式控制制动器的制动压力。
紧急制动控制器可以包括:制动压力状态检测器,被配置为检测制动器的当前制动压力状态;和制动压力调整器,被配置为根据控制器的控制信号、基于由制动压力状态检测器检测的当前制动压力状态以步进式方式调整制动器的制动压力。
当缩小摄像机的FOV时,控制器可以被配置为控制制动压力调整器以增加制动器的制动压力。
在控制制动压力调整器以增加制动器的制动压力之后,控制器可以被配置为基于由车辆速度检测器检测的速度和由周围环境检测器检测的行人来计算碰撞风险,并且控制器可以被配置为根据所计算的碰撞风险控制制动压力调整器额外地增加制动器的制动压力。
当碰撞风险等于或大于预定的参考碰撞风险时,控制器可以被配置为控制制动压力调整器额外地增加制动器的制动压力。
控制器可以被配置为将行人分类成儿童和成人并且分别向儿童和成人施加权重来计算碰撞风险,其中,儿童的权重高于成人的权重。
当扩大摄像机的FOV时,控制器可以被配置为控制制动压力调整器减小制动器的制动压力。
紧急制动控制器可以进一步包括紧急制动监测器,该紧急制动监测器被配置为:当前方目标出现在车辆的前面时,则输出步进式警报;并且在输出步进式警报之后,当驾驶员不按压制动踏板时,或者当前方目标出现在车辆的前面而没有步进式警报时、驾驶员采取行动所需的时间短于预定的时间的情况下,则操作制动器。
应当理解的是,上述一般性描述与下面细节描述两者是示例性的和说明性的并且旨在提供对要求保护的本发明的进一步说明。
附图说明
包括提供对本发明的进一步理解并且被整合在本说明书中和构成本说明书的一部分的所附附图示出了本发明的实施方式、并且与说明书一起用于说明本发明的原理。
图1是示出根据本发明的实施方式的用于车辆的紧急制动预备装置的框图。
图2示意性地示出了根据本发明的实施方式的车辆的FOV控制。
图3示出了根据本发明的实施方式的用于检测道路周围的行人信息的方法。
图4是示出根据本发明的实施方式的用于车辆的紧急制动预备方法的流程图。
具体实施方式
下面将参考示出本发明的实施方式的附图更为全面地描述本发明。然而,本发明可以涵盖多种不同的形式并且不应被解释为局限于此处阐述的实施方式。更确切地,提供的这些实施方式使得本公开全面并且将本发明的范围充分传递给本领域技术人员。在附图中,为清晰起见,可以夸大层和区域的尺寸和相对尺寸。附图中的同样参考标号表示同样的元件。
应当理解的是,出于本公开的目的,“X、Y、以及Z中的至少一个”能被解释为仅X、仅Y、仅Z、或X、Y、以及Z中的两项或多项的任意组合(例如,XYZ、XYY、YZ、ZZ)。除非与具体描述相反,否则,此处描述的术语“包括”、“配置”、“具有”等将被理解为默示包括所陈述的部件,并且因此应被解释为包括其他部件,而不排除任何其他元件。
图1是示出根据本发明的实施方式的用于车辆的紧急制动预备装置的框图,图2示意性地示出了根据本发明的实施方式的车辆的FOV控制,并且图3示出了根据本发明的实施方式的用于检测道路周围的行人信息的方法。
参考图1,根据本发明的实施方式的用于车辆的紧急制动预备装置可以包括摄像机10、周围环境检测单元20、雷达传感器22、车辆速度检测单元30、行驶道路检测单元40、导航模块50、紧急制动控制模块60、以及控制单元70。
摄像机10可以拍摄车辆的前方道路的图像。通过摄像机10拍摄的图像,可以检测前方目标、行人等。前方目标可以包括移动目标和静止目标。进一步地,前方目标可以包括前方车辆、交通标志、以及行驶车道。
摄像机10可以具有根据车辆的行驶速度、行驶道路、以及行驶环境调整的FOV。后面将对此进行描述。
周围环境检测单元20可以从由摄像机10或雷达传感器22检测的信息中检测车辆的周围环境,例如,行人或前方目标的数量。
出于参考,示出的实施方式可以基于下列假设:周围环境检测单元20由摄像机10或雷达传感器22检测周围环境。然而,本发明并不局限于此,并且只要检测单元能安装在车里中并且能检测周围情形,则可以采用各种类型的检测单元作为周围环境检测单元20。
车辆速度检测单元30可以检测车辆的速度。车辆速度检测单元30可以由安装在车辆中的车辆速度传感器检测车辆速度,但是从导航模块50接收车辆速度。
行驶道路检测单元40可以检测车辆正在行驶的行驶道路。行驶道路检测单元40可以连接至导航模块50、并且基于存储在导航模块50中的地图信息来检测车辆正在行驶的行驶道路。在这种情况下,行驶道路检测单元40可以由安装在车辆中的导航模块50来检测行驶道路。然而,此外,行驶道路检测单元40可以通过导航服务器接收关于行驶道路的信息,该导航服务器经由无线通信连接至车辆并且提供各种地图信息或路线信息。
由行驶道路检测单元40检测的行驶道路可以分类成高速公路和一般道路。高速公路可以包括快速路和城市高速道路,并且一般道路可以包括当地道路和城市一般道路。
紧急制动控制模块60可以根据摄像机10的FOV以步进式方式将制动器的制动压力控制为预设的制动状态。
紧急制动控制模块60可以包括制动压力状态检测单元61、制动压力调整单元62、以及紧急制动单元63。
制动压力状态检测单元61可以检测制动器(未示出)的当前制动压力,例如,制动流体压力等。此时,在将车辆的车轮完全停止而不转动的状态设置为100%的参考比的假设下,制动压力状态检测单元61可以将当前制动压力转换成对应的比。
制动压力调整单元62可以根据控制单元70的控制信号将制动器的制动压力调整至预设的制动状态。然而,用于调整制动压力的致动器可以根据制动器的制动方法而改变。在将车辆的车轮完全停止而不转动的状态设置为100%的参考比的假设下,可以将制动状态划分成多个水平。由此,根据控制单元70的控制信号,制动压力调整单元62可以基于当前制动压力状态将制动状态调整至多个水平中的任意一个。
由于所观察的前面目标或行人出现在车辆的前面,即使输出了步进式警报,而驾驶员未采取行动时,或者在前方目标出现在车辆的前面的情况下,即使不输出步进式警报,驾驶员采取行动所需的时间也短于指定的时间(例如,在识别前方目标或行人之后,驾驶员踩踏制动器所需的统计时间)时,紧急制动单元63可以强制操作制动器。
控制单元70可以根据由车辆速度检测单元30检测的车辆速度、由行驶道路检测单元40检测的行驶道路、以及由周围环境检测单元20检测的前方目标中的一者或多者来控制摄像机10的FOV,并且控制单元70可以根据摄像机10的FOV以步进式方式控制紧急制动控制模块60而将制动器的制动压力控制为预设的制动状态。
即,控制单元70可以基于由车辆速度检测单元30检测的车辆速度、由行驶道路检测单元40检测的行驶道路、以及由周围环境检测单元20检测的前方目标而根据每种情形扩大或缩小摄像机10的FOV。进一步地,控制单元70可以通过步进式方式控制紧急制动控制模块60将制动器的制动压力增加或减小至预设的制动状态。
更具体地,控制单元70可以基于由前方目标检测单元检测的移动目标和静止目标的数量判断行驶情形是否满足交通拥堵。当判断结果指示行驶情形为交通拥堵时,控制单元70可以判断行人信息是否满足预设的行人条件,并且根据判断结果缩小或扩大摄像机10的FOV。此时,当行人信息满足行人条件时,控制单元70可以缩小摄像机10的FOV,并且当行人信息不满足行人条件时,控制单元70可以扩大摄像机10的FOV。
在这种情况下,当由周围环境检测单元20检测的移动目标的数量等于或大于预设的移动目标阈值、或者静止目标的数量等于或大于预设的静止目标阈值时,控制单元70可以判断行驶情形为交通拥堵。进一步地,当行人的数量等于或大于预设的阈值、或者行人的曝光时间等于或大于预设的阈时间时,控制单元70可以判断满足行人条件。
当图像的一个帧中包括过多数量的行人时,不容易在短时间内计算行人的数量,从而耗费许多负荷。当图像中的行人不分离、而是彼此重叠或彼此紧挨着站立时,曝光时间可以包括指示人行道上的一排有多少行人的信息,而非直接计算行人的数量。换言之,曝光时间可以包括一排中的行人的长度信息,行人之间的距离短于指定的距离。
控制单元70可以根据行驶情形是否是交通拥堵并且由行驶道路检测单元40检测的行驶道路是否是高速公路控制摄像机10的FOV。在这种情况下,当行驶情形不是交通拥堵并且行驶道路不是高速公路时,控制单元70可以缩小摄像机10的FOV。
进一步地,当行驶情形不是交通拥堵并且行驶道路是高速公路时,控制单元70可以判断由车辆速度检测单元30检测的车辆速度是否等于或大于预设的阈速度并且根据判断结果控制摄像机10的FOV。即,当行驶情形不是交通拥堵、行驶道路是高速公路、并且车辆速度等于或大于阈速度时,控制单元70可以扩大摄像机10的FOV,并且当行驶情形不是交通拥堵、行驶道路是高速公路、并且车辆速度小于阈速度时,控制单元70可以缩小摄像机10的FOV。
阈速度可以指示用于控制摄像机10的FOV的参考速度。即使行驶道路是高速公路,控制单元70也控制摄像机10的FOV的原因在于:即使行驶道路是高速公路,也可以降低车辆速度。
根据是否扩大或缩小摄像机10的FOV,控制单元70可以通过紧急制动控制模块60以步进式方式将制动器的制动压力控制为预设的制动状态。
当缩小摄像机10的FOV时,控制单元70可以基于当前制动压力控制制动压力调整单元62而将制动器的制动压力控制为预设的制动状态。例如,制动压力调整单元62可以将制动压力增加一个水平。另一方面,当扩大摄像机10的FOV时,控制单元70可以基于当前制动压力控制制动压力调整单元62而将制动器的制动压力控制为预设的制动状态。例如,制动压力调整单元62可以将制动压力减小一个水平。
在基于当前制动压力控制制动压力调整单元62将制动器的制动压力增加至预设的制动状态之后,控制单元70可以基于由车辆速度检测单元30检测的车辆速度和由前方目标检测单元检测的前方目标来检测碰撞风险,并且控制单元70可以根据碰撞风险来控制制动压力调整单元62额外地增加制动器的制动压力。
例如,当碰撞风险等于或大于预设的参考碰撞风险时,控制单元70可以控制制动压力调整单元62额外地增加制动器的制动压力。
当计算碰撞风险时,控制单元70可以将行人分类成儿童和成人并且分别向儿童和成人施加权重。此时,控制单元70可以向儿童施加比成人更高的权重,因此,即使在相同的距离、位置、或车辆速度的情况下,所计算的儿童的碰撞风险是比成人的碰撞风险更高的值。
当前方目标或行人出现在车辆的前面时,控制单元70可以控制紧急制动单元63输出步进式警报,并且即使在输出步进式警报之后,驾驶员也不按压制动踏板时,或者在前方目标出现在车辆的前面的情况下,即使不输出步进式警报,驾驶员采取行动所需的时间也短于指定时间时,则控制单元70操作制动器。由此,在紧急情况下,即使驾驶员不操作制动器,车辆也能停止。
在下文中,将参考图4详细描述根据本发明的实施方式的用于车辆的紧急制动预备方法。
图4是示出根据本发明的实施方式的用于车辆的紧急制动预备方法的流程图。
参考图4,在步骤S100,摄像机10可以将车辆的前方情形拍成影像,周围环境检测单元20可以从由摄像机10或雷达传感器22检测的信息中检测车辆的周围环境,例如,行人或前方目标的数量,并且车辆速度检测单元30可以检测车辆的速度。
当检测到行驶速度、行驶道路和行驶环境时,在步骤S102,控制单元70可以基于由前方目标检测单元检测的移动目标和静止目标的数量判断行驶情形是否是交通拥堵。在这种情况下,当由周围环境检测单元20检测的移动目标的数量等于或大于预设的移动目标阈值、或者静止目标的数量等于或大于预设的静止目标阈值时,控制单元70可以判断行驶情形为交通拥堵。
当步骤S102中的判断结果指示行驶情形为交通拥堵时,在步骤S104,控制单元70可以判断行人信息是否满足预设的行人条件。在这种情况下,当行人的数量等于或大于预设的阈值、或者行人的曝光时间等于或大于预设的阈时间时,控制单元70可以判断满足行人条件。
当步骤S104中的判断结果指示行人信息满足行人条件时,在步骤S114,控制单元70可以缩小摄像机10的FOV。另一方面,当步骤S104中的判断结果指示行人信息不满足行人条件时,在步骤S106,控制单元70可以扩大摄像机10的FOV。
当步骤S102中的判断结果指示行驶情形不是交通拥堵时,在步骤S110,控制单元70可以判断行驶道路是否是高速公路。
当步骤S110中的判断结果指示行驶道路不是高速公路、而是一般道路时,在步骤S114,控制单元70可以缩小摄像机10的FOV。
另一方面,当步骤S110中的判断结果指示行驶道路是高速公路时,在步骤S112,控制单元70可以判断由车辆速度检测单元30检测的车辆速度是否等于或大于预设的阈速度。当步骤S112中的判断结果指示车辆速度等于或大于阈速度时,在步骤S106,控制单元70可以扩大摄像机10的FOV。另一方面,当步骤S112中的判断结果指示车辆速度小于阈速度时,在步骤S114,控制单元70可以缩小摄像机10的FOV。
在步骤S114中缩小摄像机10的FOV之后,在步骤S116,控制单元70可以基于当前制动压力来控制制动压力调整单元62将制动器的制动压力调整至预设的制动状态。例如,制动压力调整单元62可以将制动器的制动压力增加一个水平。
在基于当前制动压力控制制动压力调整单元62将制动压力增加至预设的制动状态之后,控制单元70可以基于由车辆速度检测单元30检测的车辆速度和由前方目标检测单元检测的前方目标计算碰撞风险、并且在步骤S118判断所计算的碰撞风险是否等于或大于预设的参考碰撞风险。在这种情况下,控制单元70可以向儿童施加比成人更高的权重,以使得即使在相同的距离、位置、或车辆速度的情况下,所计算的儿童的碰撞风险是比成人的碰撞风险更高的值。
当步骤S118中的判断结果指示碰撞风险等于或大于预设的参考碰撞风险时,在步骤S120,控制单元70可以控制制动压力调整单元62额外地增加制动器的制动压力。
当前方目标或行人出现在车辆的前面时,控制单元70可以控制紧急制动单元63输出步进式警报,并且即使在输出了步进式警报之后,驾驶员未按压制动踏板时,或者在前方目标出现在车辆的前面的情况下,即使不输出步进式警报,驾驶员采取行动所需的时间也短于指定的行动时间时,控制单元70可以操作制动器。由此,在紧急情况下,即使驾驶员不操作制动器,车辆也能停止。
在步骤S106中扩大摄像机10的FOV之后,在步骤S108,控制单元70可以基于当前制动压力来控制制动压力调整单元62以将制动器的制动压力调整至预设的制动状态。例如,制动压力调整单元62可以将制动器的制动压力减小一个水平。
如上所述,根据本发明的实施方式的用于车辆的紧急制动预备装置能通过根据车辆的行驶速度、行驶道路、以及行驶环境调整摄像机的FOV而消除对摄像机的FOV的限制。然后,紧急制动预备装置能基于FOV以步进式方式控制制动压力,由此改善紧急制动辅助系统的性能。
尽管已经出于示出性目的公开了本公开的优选实施方式,然而,本领域技术人员应当认识到,在不背离所附权利要求书中限定的本发明的范围和实质的情况下,各种变形、添加、以及替换是可能的。
Claims (18)
1.一种用于车辆的紧急制动预备系统,包括:
车辆速度检测器,被配置为检测所述车辆的速度;
行驶道路检测器,被配置为检测行驶道路的类型;
周围环境检测器,被配置为检测所述车辆的周围环境;
控制器,被配置为根据由所述车辆速度检测器检测的所述速度、由所述行驶道路检测器检测的所述行驶道路的所述类型、和/或由所述周围环境检测器检测的所述周围环境来改变摄像机的视野;以及
紧急制动控制器,被配置为根据所述摄像机的所述视野来控制制动器的制动压力。
2.根据权利要求1所述的紧急制动预备系统,其中,所述控制器被配置为基于由所述周围环境检测器检测的移动目标和静止目标的数量判断是否存在交通拥堵并且判断行人信息是否满足预定的行人条件,并且所述控制器被配置为根据所判断的交通拥堵和行人信息条件中的一者或多者来控制所述摄像机的所述视野。
3.根据权利要求2所述的紧急制动预备系统,其中,所述控制器被配置为,当存在交通拥堵并且所述行人信息满足所述预定的行人条件时,则缩小所述摄像机的所述视野。
4.根据权利要求2所述的紧急制动预备系统,其中,所述控制器被配置为,当存在交通拥堵并且所述行人信息不满足所述预定的行人条件时,则扩大所述摄像机的所述视野。
5.根据权利要求2所述的紧急制动预备系统,其中,当判断所述行人信息是否满足所述预定的行人条件时,所述控制器被配置为判断行人的数量是否等于或大于预设的阈值或者判断行人的曝光时间是否等于或大于预设的阈时间。
6.根据权利要求1所述的紧急制动预备系统,其中,所述控制器被配置为基于由所述周围环境检测器检测的移动目标和静止目标的数量判断是否存在交通拥堵并且判断由所述行驶道路检测器检测的所述行驶道路的所述类型是否是高速公路,并且所述控制器被配置为根据所判断的交通拥堵和行驶道路条件中的一者或多者来控制所述摄像机的所述视野。
7.根据权利要求6所述的紧急制动预备系统,其中,所述控制器被配置为,当不存在交通拥堵并且所述行驶道路的所述类型不是高速公路时,则缩小所述摄像机的所述视野。
8.根据权利要求1所述的紧急制动预备系统,其中,所述控制器被配置为判断由所述行驶道路检测器检测的所述行驶道路的所述类型是否是高速公路、判断由所述车辆速度检测器检测的速度是否等于或大于预定的阈速度,并且根据所判断的所述行驶道路的所述类型和车辆速度条件中的一者或多者来控制所述摄像机的所述视野。
9.根据权利要求8所述的紧急制动预备系统,其中,所述控制器被配置为,当所述行驶道路的所述类型是高速公路并且由所述车辆速度检测器检测的速度等于或大于所述预定的阈速度时,则扩大所述摄像机的所述视野。
10.根据权利要求8所述的紧急制动预备系统,其中,所述控制器被配置为,当所述行驶道路的所述类型是高速公路并且由所述车辆速度检测器检测的速度小于所述预定的阈速度时,则缩小所述摄像机的所述视野。
11.根据权利要求1所述的紧急制动预备系统,其中,所述控制器被配置为根据是否扩大或缩小所述摄像机的所述视野而通过所述紧急制动控制器以步进式方式控制所述制动器的制动压力。
12.根据权利要求11所述的紧急制动预备系统,其中,所述紧急制动控制器包括:
制动压力状态检测器,被配置为检测所述制动器的当前制动压力状态;和
制动压力调整器,被配置为根据所述控制器的控制信号、基于由所述制动压力状态检测器检测的所述当前制动压力状态以步进式方式调整所述制动器的所述制动压力。
13.根据权利要求12所述的紧急制动预备系统,其中,当所述摄像机的所述视野被缩小时,所述控制器被配置为控制所述制动压力调整器以增加所述制动器的所述制动压力。
14.根据权利要求13所述的紧急制动预备系统,其中,在所述制动压力调整器增加所述制动器的所述制动压力之后,所述控制器被配置为基于由所述车辆速度检测器检测的所述速度和由所述周围环境检测器检测的行人来计算碰撞风险,并且所述控制器被配置为根据所计算的碰撞风险来控制所述制动压力调整器以额外地增加所述制动器的所述制动压力。
15.根据权利要求14所述的紧急制动预备系统,其中,当所述碰撞风险等于或大于预定的参考碰撞风险时,所述控制器被配置为控制所述制动压力调整器以额外地增加所述制动器的所述制动压力。
16.根据权利要求14所述的紧急制动预备系统,其中,所述控制器被配置为将所述行人分类成儿童和成人并且分别对所述儿童和所述成人施加权重来计算所述碰撞风险,其中,所述儿童的权重高于所述成人的权重。
17.根据权利要求12所述的紧急制动预备系统,其中,当所述摄像机的所述视野被扩大时,所述控制器被配置为控制所述制动压力调整器以减小所述制动器的所述制动压力。
18.根据权利要求12所述的紧急制动预备系统,其中,所述紧急制动控制器进一步包括紧急制动监测器,所述紧急制动监测器被配置为:当前方目标出现在所述车辆的前面时,则输出步进式警报;并且在输出了所述步进式警报之后、当驾驶员不按压制动踏板时,或者当前方目标出现在所述车辆的前面而没有步进式警报的情况下且所述驾驶员采取行动所需的时间短于预定的时间时,则操作所述制动器。
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US10814845B2 (en) | 2020-10-27 |
CN113548045B (zh) | 2023-05-23 |
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KR102185480B1 (ko) | 2020-12-02 |
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US20190031161A1 (en) | 2019-01-31 |
KR20190012604A (ko) | 2019-02-11 |
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