CN110194159A - A kind of Vehicular intelligent obstacle avoidance system and vehicle - Google Patents
A kind of Vehicular intelligent obstacle avoidance system and vehicle Download PDFInfo
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- CN110194159A CN110194159A CN201811396423.4A CN201811396423A CN110194159A CN 110194159 A CN110194159 A CN 110194159A CN 201811396423 A CN201811396423 A CN 201811396423A CN 110194159 A CN110194159 A CN 110194159A
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- wave radar
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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
- 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
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- 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 present invention provides a kind of Vehicular intelligent obstacle avoidance systems, including, detection unit detects the obstacle information of vehicle periphery, and is sent to control unit；Control unit makes command adapted thereto according to obstacle information, and send command adapted thereto to execution unit for receiving obstacle information；Execution unit is for accordingly controlling vehicle according to command adapted thereto.The Vehicular intelligent obstacle avoidance system of the embodiment of the present invention, when control unit judges vehicle and front obstacle has risk of collision, if after control unit judges that vehicle turns at this time, will not collide risk, execution unit can control vehicle emergency turn；If control unit, which judges Vehicular turn, can collide risk, execution unit can control emergency brake of vehicle, to complete avoidance.The present invention also provides a kind of vehicles.
Description
Technical field
The present invention relates to technical field of vehicle control more particularly to a kind of Vehicular intelligent obstacle avoidance systems and a kind of vehicle.
Background technique
With the development of science and technology, the intelligence degree of vehicle is higher and higher, the vehicle active safety function being related to
It is more and more.Intelligent barrier avoiding technology is widely used as one of active safety technologies by each cart enterprise quotient.
Intelligent barrier avoiding system in the prior art is generally by Dan Leida or Dan Leida+camera, central control unit, electronics
Servo steering system, body electronics systems stabilisation and braking system are formed.Before millimetre-wave radar or camera detect
There is barrier in side, and when central control unit is judged to be likely to occur risk of collision, vehicle can make difference as the case may be
The braking of degree.The accuracy of intelligent barrier avoiding technology in the prior art in inclement weather is not high, and avoidance measure is incomplete,
It greatly affected the experience of driver.
Summary of the invention
One of the objects of the present invention is to provide a kind of Vehicular intelligent obstacle avoidance system, which can be right to a certain extent
The intelligent barrier avoiding measure of vehicle supplement perfect.
In order to achieve the above object, the embodiment provides a kind of Vehicular intelligent obstacle avoidance system, including detection are single
Member, control unit and execution unit；The detection unit is used to detect the obstacle information of vehicle periphery, and is sent to described
Control unit, described control unit are used to receive the obstacle information, make control instruction according to the obstacle information, and
The control instruction is sent to the execution unit；The execution unit is for controlling vehicle according to the control instruction
System；Wherein,
If described control unit judges that vehicle and the barrier have risk of collision according to the obstacle information, and judges vehicle
It will not collide risk when turning to other lanes, then the control instruction is that emergency turn instructs；
If described control unit judges that vehicle and the barrier have risk of collision according to the obstacle information, and judges vehicle
It can collide risk when turning to other lanes, then the control instruction is that emergency braking instructs.
The Vehicular intelligent obstacle avoidance system of the embodiment of the present invention, when control unit judges that vehicle and barrier have risk of collision
When, it can be by judging whether vehicle emergency turn has risk of collision to make command adapted thereto, if vehicle emergency turn will not be sent out
Raw risk of collision then considers that controlling car racing always carries out avoidance, if control system judges that Vehicular turn can touch
When hitting risk, control emergency brake of vehicle can be further considered.Compared with the prior art, it increases and turns to avoidance option, avoidance
Experience is more preferable.
The embodiment of the present invention also provides a kind of vehicle, including Vehicular intelligent obstacle avoidance system provided by above-mentioned technical proposal.
The vehicle of the embodiment of the present invention can judge vehicle with the presence or absence of collision wind by the control unit of Vehicular intelligent obstacle avoidance system
Danger, and when there are risk of collision, vehicle emergency turn is further judged with the presence or absence of risk of collision, if vehicle emergency turn
Will not collide risk, then consider that controlling car racing always carries out avoidance, if control system judges Vehicular turn meeting
When the risk that collides, control emergency brake of vehicle can be further considered.Compared with the prior art, it increases and turns to avoidance choosing
, avoidance experience is more preferable.
Detailed description of the invention
Fig. 1 show the Vehicular intelligent obstacle avoidance system block diagram of one embodiment of the invention；
Fig. 2 show the Vehicular intelligent obstacle avoidance system block diagram of another embodiment of the present invention；
Fig. 3 show the vehicle block diagram of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
As shown in Figure 1, being the Vehicular intelligent obstacle avoidance system block diagram of one embodiment of the invention.The vehicle of the embodiment of the present invention
Intelligent barrier avoiding system, including detection unit, control unit and execution unit；Detection unit is used to detect the obstacle of vehicle periphery
Object information, and it is sent to control unit, control unit is made control according to obstacle information and is referred to for receiving obstacle information
It enables, and sends control instruction to execution unit；Execution unit is for controlling vehicle according to control instruction；Wherein,
If control unit judges that vehicle and barrier have risk of collision according to obstacle information, and judges the other vehicles of Vehicular turn
Will not collide risk when road, then control instruction is emergency turn instruction；
If control unit judges that vehicle and barrier have risk of collision according to obstacle information, and judges the other vehicles of Vehicular turn
Can collide risk when road, then control instruction is emergency braking instruction.
Specifically, the Vehicular intelligent obstacle avoidance system of the embodiment of the present invention, including detection unit, control unit and execute list
Member.
Detection unit is used to detect the obstacle information of vehicle periphery, including pedestrian, other vehicles, animal, movement or quiet
Only object, traffic lights and road signs etc..These obstacle informations that detection unit is used to will test are sent
To control unit.
Control unit can be vehicle-mounted computer or car running computer, and control unit is for receiving the barrier that detection unit is sent
Hinder object signal, and these signals are handled it and judged, and command adapted thereto is sent to execution unit according to judging result.
Execution unit includes emergency brake of vehicle system and vehicle emergency turn system, emergency brake of vehicle system include
Body electronics systems stabilisation, braking motor and anti-lock braking system realize the emergency braking to vehicle；Vehicle emergency turn
System includes electronic power assist steering system, body electronics systems stabilisation and steering motor, realizes the emergency turn to vehicle.
Wherein, after control unit is handled according to the obstacle information analysis that detection unit detects, judge vehicle with before
When square barrier has risk of collision, judgement can be further processed according to the obstacle information that detection unit detects, specifically
:
If control unit judges Vehicular turn other lanes according to the obstacle information that detection unit detects, it will not occur
Risk of collision then makes emergency turn instruction, and sends emergency turn instruction to execution unit, and execution unit is according to emergency turn
Instruction control vehicle emergency turn.For example, when detection unit detects that front vehicles are slowed down or stopped suddenly, and vehicle at this time
Perhaps vehicle or back car distance are not come farther out in right-hand lane rear to left-hand lane, and control unit judges that vehicle turns at this time
To the risk that will not collide, then control unit can make emergency turn instruction, and be sent to execution unit, execution unit according to
Emergency turn instruction control vehicle emergency turn.
It, may if control unit judges Vehicular turn other lanes according to the obstacle information that detection unit detects
Can collide risk, then make emergency braking instruction, and send emergency braking instruction to execution unit, and execution unit is according to tight
Anxious braking instruction controls emergency brake of vehicle.For example, when detection unit detects that front vehicles are slowed down or stopped suddenly, and this
When vehicle left side lane and/or right-hand lane have that vehicle is travelling or back car is closer, control unit judges vehicle
The risk that may collide is turned at this time, then control unit can make emergency braking instruction, and be sent to execution unit, hold
Row unit instructs control emergency brake of vehicle according to emergency braking.
In embodiments of the present invention, when control unit judges that vehicle and front obstacle have collision wind according to obstacle information
When dangerous, it can further or simultaneously judge that Vehicular turn can or can not have risk of collision, the wind if emergency turn will not collide
Danger, then control vehicle emergency turn, and vehicle can be effectively reduced and stop in emergency the risk to collide with back car, and avoidance is arranged
Apply more perfect, the effectively avoidance experience of promotion driver.
Wherein, in embodiments of the present invention, detection unit includes ultrasonic sensor, millimetre-wave radar and visual sensing
Device.
Farther out, but penetration power is not strong, and false target easy to form for millimetre-wave radar detection range, improper in sleet etc.
Under weather condition, detection barrier precision is not high.Ultrasonic sensor is not influenced by sleet etc., under improper weather condition
Detection accuracy is unaffected.
The obstacle information of visual sensor vehicle periphery for identification, such as pedestrian, animal, vehicle and other obstacles
Object etc., visual sensor are also used to identify traffic lights and road signs etc., to effectively promote detection unit
Identification accuracy.
When the visual sensor in detection unit recognizes traffic lights and the road signs etc. of emergent stopping
When, for example, recognize front school bus yellow or stopping marker when, control unit can make avoidance instruction, including
Emergency turn or instruction of stopping in emergency.
Wherein, ultrasonic sensor, millimetre-wave radar and visual sensor are controlled by control unit and start work.
Wherein, in embodiment provided by the invention, detection unit is in normal weather, the millimeter wave of detection unit
Radar and visual sensor start work, detect to the barrier of vehicle periphery；Under improper weather condition, detection
Ultrasonic sensor, millimetre-wave radar and the visual sensor of unit start work, examine to the barrier of vehicle periphery
It surveys.Normal weather refer to the fine perhaps air quality improper weather such as preferably include occur sleet or the big haze of dense fog with
And sand and dust etc. may influence the weather of detection unit detection accuracy.The judgement of normal weather and improper weather can be by artificial
Identification, and then the starting of detection unit relevant device is controlled, associated weather can also be inquired automatically by approach such as car networkings
Situation judges and controls the starting of detection unit relevant device, can also be and detected by vehicle self-sensor device etc..Such as
Vehicle sensors detect it is rainy, snow or air quality is poor, detection unit detection accuracy is bad, can automatically control ultrasound
Work is added in wave sensor starting.In this way, under the intensity for increasing Vehicular intelligent obstacle avoidance system workload as unobvious as possible,
Vehicle obstacle-avoidance system is effectively promoted in the operating accuracy of improper weather conditions, driver is promoted and drives to experience.
In embodiments of the present invention, the millimetre-wave radar in detection unit includes at least one preceding millimetre-wave radar and extremely
Millimetre-wave radar after one few.Preceding millimetre-wave radar is arranged in front part of vehicle, for detecting vehicle front barrier；Millimeter wave afterwards
Radar is arranged in vehicle rear, for detecting rear of vehicle barrier or back car.Wherein, in the present embodiment, vehicle
Setting there are two rear millimetre-wave radar, respectively left back millimetre-wave radar, it is right after millimetre-wave radar, left back millimetre-wave radar, the right side
Millimetre-wave radar is respectively used to the barrier of detection vehicle left back and right back afterwards, specifically, detection left and right vehicle wheel side vehicle
The back car in road preferably predicts the risk of collision that may occur to preferably detect the barrier in left and right lane.
Wherein, in the technical solution of the embodiment of the present invention, the visual sensor of detection unit includes pyroscan
And/or vehicle-mounted camera.Pyroscan and/or vehicle-mounted camera are used for the barrier on daytime or night detection vehicle periphery
Hinder the obstacle informations such as object information, including pedestrian, animal, vehicle, traffic lights/traffic signal sign.
Wherein, in the technical solution of the embodiment of the present invention, execution unit includes emergency braking system, emergency turn system
System.Emergency brake of vehicle system includes body electronics systems stabilisation, braking motor and anti-lock braking system, is realized to vehicle
Emergency braking；Vehicle emergency turn system includes electronic power assist steering system, body electronics systems stabilisation and steering motor,
Realize the emergency turn to vehicle.Wherein, while the manipulation that body electronics systems stabilisation is intended to be promoted vehicle shows, effectively
Prevent automobile from sending when reaching its dynamic limit out of control.Body electronics stability program can effectively promote the safety and manipulation of vehicle
Property.When anti-lock braking system is intended to automobile brake, the size of braking device brake force is automatically controlled, makes wheel not by locking, place
In the state of side rolling sliding (slip rate is 20% or so), to guarantee the adhesive force of wheel and ground in maximum value.
Specifically, the control unit when Vehicular intelligent obstacle avoidance system is sentenced by the obstacle information that analysis detection unit is sent
When disconnected vehicle and front obstacle have risk of collision, if control unit, which judges that vehicle turns at this time, to collide, send out
Send emergency turn instruction to execution unit, specifically, execution unit sends emergency turn instruction to the packet of emergency turn system
Electronic power assist steering system, body electronics systems stabilisation and steering motor are included, electronic power assist steering system, body electronics are stablized
System and steering motor realize the emergency turn to vehicle.
When the control unit of Vehicular intelligent obstacle avoidance system judges vehicle by the obstacle information that analysis detection unit is sent
When having risk of collision with front obstacle, if control unit, which judges that vehicle turns at this time, to collide, such as left side
Lane and/or right-hand lane direction, which have, carrys out vehicle, and the speed for carrying out vehicle is quickly, turns to the risk that may collide by force, then controls
Unit processed sends emergency braking instruction to execution unit, specifically, by emergency braking instruction to send vehicle urgent for execution unit
Braking system, emergency brake of vehicle system include body electronics systems stabilisation, braking motor and anti-lock braking system, are realized
Emergency braking to vehicle.
The present invention also provides another embodiments, as shown in Figure 2.Vehicular intelligent obstacle avoidance system further includes that alarm is single
Member.Control unit judges after receiving the obstacle signal that detection unit is sent, if it is determined that vehicle and front obstacle
When having risk of collision, such as having risk of collision with front pedestrian or front vehicles, alarm command can be sent to alarm unit,
Alarm unit, which receives alarm command and issues alarm signal according to alarm command, reminds driver.If driver is in a certain setting
It does not make a response in time or control system thinks vehicle at this time must make urgent avoidance measure, otherwise can send out immediately
Raw risk of collision, control unit can make corresponding avoidance instruction according to obstacle information, and be sent to execution unit.Execution unit
Corresponding control, including emergency turn or emergency braking are made to vehicle according to the instruction of corresponding avoidance.Urgent feelings are occurring as a result,
When condition, driver can in case of emergency, and Vehicular intelligent obstacle avoidance system is reminded after issuing alarm signal, thus voluntarily right
Vehicle carries out urgent avoidance obstacle.
Specifically, when driver does not make a response after alarm, if what control unit was detected according to detection unit
When obstacle information judges Vehicular turn other lanes, will not collide risk, then make emergency turn instruction, and send tight
Anxious steering order is to execution unit, and execution unit is according to emergency turn instruction control vehicle emergency turn.For example, working as detection unit
Detect front vehicles slow down suddenly perhaps stop and vehicle is not carried out at vehicle left side lane or right-hand lane rear at this time, or
Farther out, control unit judges that vehicle turns to the risk that will not collide at this time to person's back car distance, then control unit can be made
Emergency turn instruction, and it is sent to execution unit, execution unit instructs control vehicle emergency turn according to emergency turn.
It, may if control unit judges Vehicular turn other lanes according to the obstacle information that detection unit detects
Can collide risk, then make emergency braking instruction, and send emergency braking instruction to execution unit, and execution unit is according to tight
Anxious braking instruction controls emergency brake of vehicle.For example, when detection unit detects that front vehicles are slowed down or stopped suddenly, and this
When vehicle left side lane and/or right-hand lane have that vehicle is travelling or back car is closer, control unit judges vehicle
The risk that may collide is turned at this time, then control unit can make emergency braking instruction, and be sent to execution unit, hold
Row unit instructs control emergency brake of vehicle according to emergency braking.
Wherein, in the Vehicular intelligent obstacle avoidance system of the embodiment of the present invention, alarm unit includes alarm lamp and/or loudspeaker,
Realization in case of emergency reminds driver.
The present invention also provides a kind of vehicles, as shown in figure 3, including Vehicular intelligent avoidance described in any of the above embodiments system
System.To provide more perfect avoidance experience for driver.
In the present invention unless specifically defined or limited otherwise, the terms such as term " connected ", " connection " should do broad sense
Understand, for example, it may be being fixedly connected, may be a detachable connection, or is integral；It can be mechanical connection, be also possible to
Electrical connection；It can be directly connected, the connection inside two elements or two can also be can be indirectly connected through an intermediary
The interaction relationship of a element.For the ordinary skill in the art, above-mentioned art can be understood as the case may be
The concrete meaning of language in the present invention.
Any process described in flow chart or method description are construed as, and indicate to include one or more be used for
Module, segment or the part of the code of the executable instruction for the step of realizing custom logic function or process, and it is of the invention
The range of preferred embodiment is included other realization, wherein sequence shown or discussed can not be pressed, including according to involved by
And function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by the affiliated skill of the embodiment of the present invention
The technical staff in art field is understood.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, the ordinary skill people of this field
Member can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (12)
1. a kind of Vehicular intelligent obstacle avoidance system, which is characterized in that including detection unit, control unit and execution unit；It is described
Detection unit is used to detect the obstacle information of vehicle periphery, and is sent to described control unit, and described control unit is for connecing
The obstacle information is received, control instruction is made according to the obstacle information, and sends the control instruction to the execution
Unit；The execution unit is for controlling vehicle according to the control instruction；Wherein,
If described control unit judges that vehicle and the barrier have risk of collision according to the obstacle information, and judges vehicle
It will not collide risk when turning to other lanes, then the control instruction is that emergency turn instructs；
If described control unit judges that vehicle and the barrier have risk of collision according to the obstacle information, and judges vehicle
It can collide risk when turning to other lanes, then the control instruction is that emergency braking instructs.
2. Vehicular intelligent obstacle avoidance system as described in claim 1, which is characterized in that the detection unit includes supersonic sensing
Device, millimetre-wave radar and visual sensor.
3. Vehicular intelligent obstacle avoidance system as claimed in claim 2, which is characterized in that
In normal weather, the millimetre-wave radar and the visual sensor start work, to the barrier of vehicle periphery
Object is hindered to be detected；
Under improper weather condition, the ultrasonic sensor, the millimetre-wave radar and visual sensor starting
Work, detects the barrier of vehicle periphery.
4. Vehicular intelligent obstacle avoidance system as claimed in claim 3, which is characterized in that the ultrasonic sensor, the millimeter
Wave radar and the visual sensor are controlled by control unit and start work.
5. Vehicular intelligent obstacle avoidance system as claimed in claim 3, which is characterized in that the normal weather and improper weather
Judgment mode include artificial judgment, car networking inquire automatically or vehicle sensors identification.
6. Vehicular intelligent obstacle avoidance system as claimed in claim 2, which is characterized in that the millimetre-wave radar includes at least one
Preceding millimetre-wave radar and at least one rear millimetre-wave radar；Before at least one described preceding millimetre-wave radar is set to vehicle
Portion, for detecting vehicle front barrier；At least one described rear millimetre-wave radar is set to the rear portion of vehicle, for detecting vehicle
Rear obstacle.
7. Vehicular intelligent obstacle avoidance system as claimed in claim 6, which is characterized in that at least one described rear millimetre-wave radar packet
Include left back millimetre-wave radar, it is right after millimetre-wave radar, the left back millimetre-wave radar, it is described it is right after millimetre-wave radar be respectively intended to
Detect the barrier of vehicle left back and right back.
8. Vehicular intelligent obstacle avoidance system as claimed in claim 2, which is characterized in that the visual sensor includes that infrared ray is visited
Survey device and/or vehicle-mounted camera.
9. Vehicular intelligent obstacle avoidance system as claimed in claim 8, which is characterized in that visual sensor vehicle for identification
The people of surrounding and/or animal and/or object, the object include traffic lights and/or road signs.
10. Vehicular intelligent obstacle avoidance system as claimed in claim 2, which is characterized in that the execution unit includes emergency braking
System, emergency turn system.
11. Vehicular intelligent obstacle avoidance system as described in claim 1, which is characterized in that further include alarm unit, in the control
Before unit makes control instruction according to the obstacle information, further include,
When described control unit judges that vehicle and front obstacle have risk of collision according to the obstacle information, alarm is sent
Instruct the alarm unit；
The alarm unit receives the alarm command, and carries out warning reminding to driver according to the alarm command；
If driver does not make a response within a preset time, described control unit makes control according to the obstacle information
System instruction.
12. a kind of vehicle, which is characterized in that including the described in any item Vehicular intelligent obstacle avoidance systems of claims 1 to 11.
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| CN2018202771869 | 2018-02-26 | ||
| CN201820277186 | 2018-02-26 |
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| CN113570902A (en) * | 2020-04-28 | 2021-10-29 | 比亚迪股份有限公司 | Vehicle-to-vehicle communication method based on obstacle detection triggering, vehicle and communication equipment |
| CN113619575A (en) * | 2021-08-31 | 2021-11-09 | 浙江亚太机电股份有限公司 | Emergency steering system based on millimeter wave radar |
| CN113665578A (en) * | 2021-08-31 | 2021-11-19 | 浙江亚太机电股份有限公司 | Pavement pit avoiding system based on vision system and millimeter wave radar |
| CN114274955A (en) * | 2021-12-13 | 2022-04-05 | 北京车和家汽车科技有限公司 | Vehicle active risk avoiding method and device, electronic equipment and storage medium |
| CN114281075A (en) * | 2021-11-19 | 2022-04-05 | 岚图汽车科技有限公司 | Emergency obstacle avoidance system based on service-oriented, control method and equipment thereof |
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| CN113665578A (en) * | 2021-08-31 | 2021-11-19 | 浙江亚太机电股份有限公司 | Pavement pit avoiding system based on vision system and millimeter wave radar |
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| CN114281075A (en) * | 2021-11-19 | 2022-04-05 | 岚图汽车科技有限公司 | Emergency obstacle avoidance system based on service-oriented, control method and equipment thereof |
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