CN110239535A - A kind of bend active collision avoidance control method based on Multi-sensor Fusion - Google Patents
A kind of bend active collision avoidance control method based on Multi-sensor Fusion Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- 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
- 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
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
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Abstract
The present invention provides a kind of bend active collision avoidance control method based on Multi-sensor Fusion, double nargin guarantees are done using vehicle-mounted visual sensor and millimetre-wave radar, vehicle-mounted visual sensor is used to detect the deflecting angle of road barrier and lane line, millimetre-wave radar does front obstacle detection, the obstacle information in track is judged by blending algorithm, in conjunction with the collision time calculated from vehicle speed, movement state information with barrier in bend, corresponding active control strategies are provided according to different requirements, improve the active safety performance of automobile；The present invention is operated without driver simultaneously, implementation procedure intelligent and high-efficiency, and stability is high.
Description
Technical field
The invention belongs to automobile technical fields, and in particular to a kind of bend active collision avoidance control based on Multi-sensor Fusion
Method.
Background technique
Currently, people also pay attention to automotive safety further, and automotive safety mainly divides due to the continuous promotion of car ownership
For active safety and passive security two large divisions, with the continuous development of computer technology, active safety technologies constantly break through wound
Newly.Active collision avoidance function is an indispensable part of automobile active safety, and cardinal principle is obtained using sensor
Traveling ahead road barrier information, and differentiate that it whether there is influence to from vehicle traveling, to actively intervene vehicle braking work
It is able to achieve active collision avoidance.Common sensor has laser radar, millimetre-wave radar, vision visual sensor, but mostly main at present
Dynamic collision avoidance control is all based on single-sensor and is controlled just for straight way, although certain effect can be obtained,
In corner there are can not accurately obtain obstacle position information in bend when barrier, correct control can not be made, there are latent
Danger, adaptability is bad.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of, the bend active collision avoidance based on Multi-sensor Fusion is controlled
Method, can differentiate whether barrier has potential impact and carry out active collision avoidance control to from vehicle traveling in bend.
The present invention adopts the following technical scheme:
A kind of bend active collision avoidance control method based on Multi-sensor Fusion, comprising:
S1, opposite lateral distance, the fore-and-aft distance information from vehicle of barrier is obtained by vehicle-mounted visual sensor, while real
When tracking lane line and obtain lane center line position, identify road ahead bend departure angle；It is obtained and is hindered by millimetre-wave radar
Hinder object opposite from the lateral distance of vehicle, fore-and-aft distance and relative velocity；
S2, the bend departure angle according to road ahead calculate lateral distance of the lane middle line with respect to automobile central axes, determine
The coordinate range of the lane center of curve ahead；
S3, the coordinate according to the barrier of acquisition with respect to automobile central axes, disturbance in judgement object whether curve ahead vehicle
In the coordinate range of diatom, effective obstacle target in lane is filtered out；
S4, data correction is carried out with the relative distance from vehicle to effective obstacle target that sensor obtains, is corrected
Realistic objective relative distance afterwards；
S5, according to millimetre-wave radar obtain barrier with from vehicle relative velocity and amendment after realistic objective it is opposite away from
From collision time of the calculating from vehicle and barrier；
S6, collision time is compared with pre-set pre-warning time threshold value and emergency braking threshold value, if when collision
Between be less than pre-warning time threshold value, then early warning system issue early warning；It is if collision time less than emergency braking threshold value, controls
System makes emergency braking processing to from vehicle.
Preferably, in the step S2, visual sensor is along lane center to the fore-and-aft distance from vehicle headstock every n meters
Acquire an identification point ai, and obtain each identification point a on the lane center of frontiWith the bend departure angle β from vehicle central axesi；
Thus identification point aiIt is ni to headstock fore-and-aft distance, identification point a can be obtainediTo the distance from vehicle central axes are as follows:
Dislane_xi=(ni) × tan βi
；Therefore, the opposite coordinate range from vehicle of lane center is (Dislane_xi,ni)。
Preferably, in step S3, the opposite coordinate from vehicle of the barrier of acquisition is (Disobj_x,Disobj_y)；
The lateral distance error threshold of default sensor is εi, determine bend target lateral filter area CxiAre as follows:
Cxi=[(Dislane_xi-εi),(Dislane_xi+εi)]
；The distance that visual sensor is obtained from vehicle the near front wheel to left-hand lane line is l1, from vehicle off-front wheel to right-hand lane
The distance of line is l2, vehicle width according to the pre-stored data is l0, calculate the wide L in lanelaneAre as follows:
Llane=l0+l1+l2
；The bend of calculating deviates weight ωiAre as follows:
, it is determined that bend target longitudinal direction filter area CyiAre as follows:
Cyi=[(ni- ωi),(ni+ωi)]；
If
Disobj_x∈Cxi,
And
Disobj_y∈Cyi
, then it is judged as that barrier is located within the scope of curve ahead lane line.
Preferably, in step S4, the opposite actual range from vehicle of obstacle target is Drelative, including straight way distance
Drelative_1With bend distance Drelative_2；
Straight way distance Drelative_1Are as follows:
Drelative_1=nj j ∈ [0,10]
；Adjacent identification point aiThe distance between are as follows:
, then bend distance Drelative_2Are as follows:
；Then actual range DrelativeAre as follows:
Preferably, in step S5, the relative velocity V of vehicle and barrier is obtained from by millimetre-wave radarrelative, according to step
The actual range D that rapid S4 is calculatedrelative, collision time TTC is calculated according to the following formula are as follows:
Preferably, in step S6, collision time and pre-set pre-warning time threshold value and emergency braking threshold value are carried out
While comparison, also by the opposite actual range D from vehicle of obstacle targetrelativeWith safe distance DsafeAnd emergency braking away from
From being compared, if DrelativeLess than Dsafe, then early warning system issues early warning；If DrelativeLess than emergency stopping distance,
Then control system makes emergency braking processing to from vehicle.
Preferably, being obtained from vehicle speed by sensor is V0, from vehicle, maximum deceleration is a on present road, then pacifies
Full distance DsafeAre as follows:
Preferably, in step S1, using the radar sensor and visual sensor of identical frame per second, guarantee target data information
Synchronousness；Based on millimetre-wave radar sensor, the target range information that millimetre-wave radar obtains is created as being based on
From the radar data coordinate system of vehicle driving direction, it is corresponding that the target information that visual sensor obtains is transformed into radar sensor
In data coordinate system, guarantee the spatial synchrony of target data information.
Preferably, the information obtained according to millimetre-wave radar and visual sensor, carries out the establishing identity of barrier；
Wherein, the obstacle article coordinate that millimetre-wave radar obtains is (Disr_x,Disr_y), the barrier that visual sensor obtains
Coordinate is (Disc_x,Disc_y)；
On the basis of millimetre-wave radar data, the abscissa error threshold for presetting millimetre-wave radar data is εx, ordinate
Error threshold is εy,
If
|Disr_x-Disc_x|≤εx,
And
|Disr_y-Disc_y|≤εy,
Then it is judged as same barrier.
Preferably, taken after barrier establishing identity two barriers received apart from coordinate mean value as final obstacle
Object apart from coordinate, it may be assumed that
Beneficial effects of the present invention:
(1) mutual supplement with each other's advantages of millimetre-wave radar and visual sensor is merged obstacle article coordinate and lane line is sat by the present invention
Mark, the accurate barrier detected in this lane of bend, more traditional collision avoidance method are more advanced, safe；
(2) present invention corrects the target relative distance of sensor detection according to bend feature, and model data is more accurate, can
By property height；
(3) present invention makes data more accurate using double nargin integrated environment sensory perceptual systems, Fusion,
It can work under misty rain, dark surrounds simultaneously, environmental suitability is strong, and stability is high；
(4) the device of the invention hardware configuration is simple, and integrated level is high, and collision avoidance method is stablized effectively, by intervening vehicle system
Dynamic system realizes environment sensing, control decision, the closed-loop control for executing processing.
Detailed description of the invention
Attached drawing is used to provide to preferred understanding of the invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the investigative range schematic diagram of sensor of the invention；
Fig. 2 is millimetre-wave radar of the present invention and the schematic diagram that visual sensor data coordinates merge；
Fig. 3 is the vehicle-mounted visual sensor bend departure angle detection schematic diagram of the present invention；
Fig. 4 is obstacle target filter area schematic diagram of the present invention；
Fig. 5 is the amendment schematic diagram of the opposite practical bend distance from vehicle of obstacle target of the present invention.
Specific embodiment
A specific embodiment of the invention is described with reference to the accompanying drawing.
The bend active collision avoidance control method based on Multi-sensor Fusion that the invention proposes a kind of is passed using vehicle-mounted vision
Sensor and millimetre-wave radar do double nargin guarantees, and vehicle-mounted visual sensor is used to detect the deviation of road barrier and lane line
Angle, millimetre-wave radar do front obstacle detection, judge the obstacle information in track by blending algorithm, in conjunction with from vehicle vehicle
Speed, movement state information calculate the collision time (hereinafter referred to as TTC) with barrier in bend, are provided according to different requirements corresponding
Active control strategies improve the active safety performance of automobile.The present invention is operated without driver simultaneously, implementation procedure intelligence
Can efficiently, stability is high.
To realize that above-mentioned function, the present invention propose following solution:
Bend active collision avoidance control device based on Multi-sensor Fusion includes vehicle-mounted visual sensor, 77GHz millimeter wave
Radar, controller (ECU), acoustooptic alarm system, brake actuator.
Vehicle-mounted visual sensor, which is mainly responsible for, obtains road ahead obstacle position information, lane detection and to going off the curve
Curvature information；77GHz millimetre-wave radar is mainly responsible for detection road ahead obstacle position information；Controller is for merging vision
The coordinate information of sensor and millimetre-wave radar simultaneously determines Obstacle Position and motion information, provides in conjunction with visual sensor curved
Road departure angle Information locating curve barrier information provides control instruction after calculating by internal decision making planning；Sound-light alarm system
System is responsible for receiving controller instruction, issues sound-light alarm, driver is prompted to standardize driving；Brake actuator is responsible for receiving control
Device instruction, provides and accordingly executes control.
The invention patent is described in further detail below in conjunction with specific embodiments and drawings.
Step 1: environment sensing sensor information obtains
It is as shown in Figure 1 the investigative range schematic diagram of sensor, in figure: 1 is vehicle-mounted visual sensor；2 be 77GHz millimeters
Wave radar；Vehicle-mounted visual sensor investigative range is S1, and detecting distance is d1 ≈ 50m, and millimetre-wave radar investigative range is S2, inspection
Ranging detects overlapping range from for d2 ≈ 200m, S3 for millimetre-wave radar and visual sensor, while being also that can carry out number of targets
According to the range of fusion.
Opposite lateral distance, the fore-and-aft distance information from vehicle of barrier is obtained by vehicle-mounted visual sensor, is identified simultaneously
Road ahead bend departure angle；By 77GHz millimetre-wave radar obtain the opposite lateral distance from vehicle of barrier, fore-and-aft distance with
And relative velocity.
Wherein, the obstacle article coordinate that millimetre-wave radar obtains is (Disr_x,Disr_y), the barrier that visual sensor obtains
Coordinate is (Disc_x,Disc_y)。
Step 2: Data Fusion of Sensor
1, barrier establishing identity
Using the radar sensor and visual sensor of identical frame per second, guarantee the synchronousness of target data information.
Based on millimetre-wave radar sensor, the target range information that millimetre-wave radar obtains is created as being based on from garage
The target information that visual sensor obtains is transformed into the corresponding data of radar sensor and sat by the radar data coordinate system for sailing direction
In mark system, guarantee the spatial synchrony of target data information.
As shown in Fig. 2, X is transverse coordinate axis, Y is longitudinal coordinate axle, and O is coordinate origin, and 3 be the obstacle in confidence interval
Object point, 4 be the borderline obstacle object point of confidence interval, and 5 be the point outside confidence interval, 6 barriers obtained for millimetre-wave radar
Target, C is can confidence interval.
On the basis of millimetre-wave radar data, the abscissa error threshold for presetting millimetre-wave radar data is εx, ordinate
Error threshold is εy,
If
|Disr_x-Disc_x|≤εx,
And
|Disr_y-Disc_y|≤εy,
Then it is judged as same barrier.
2, obstacle distance optimizes
Taken after barrier establishing identity two barriers got apart from coordinate mean value as final barrier
Apart from coordinate, it may be assumed that
Obstacle article coordinate is (Dis after then optimizingobj_x,Disobj_y)。
Step 3: the detection of bend departure angle and target information tracking
The bend departure angle that vehicle-mounted visual sensor obtains as shown in Fig. 3, visual sensor can real-time tracing lane line
And lane center line position is obtained, S1 is visual sensor investigative range in figure；aiFor identification point on central axes；βiFor lane from
Beveling.
Visual sensor is along central axes every identification point a of 5 meters of acquisitionsi, and it is right on determining front 50m inside lane middle line
The deflecting angle β with central axes should be puti。
Thus identification point is 5i to headstock fore-and-aft distance, can obtain lane middle line and central axes distance are as follows:
Dislane_xi=(5i) × tan βi
；Therefore, the opposite coordinate range from vehicle of lane center is (Dislane_xi,5i)。
Step 4: in conjunction with barrier in obstacle article coordinate screening lane
As shown in figure 4, obstacle article coordinate is (Disobj_x,Disobj_y), lane center is opposite to be from the coordinate range of vehicle
(Dislane_xi, 5i), whether (do not considered straight within the scope of curve ahead lane line according to two coordinate value multilevel iudge barriers
Road).
The lateral distance error threshold of default sensor is εi, determine bend target lateral filter area CxiAre as follows:
Cxi=[(Dislane_xi-εi),(Dislane_xi+εi)]
；The distance that visual sensor is obtained from vehicle the near front wheel to left-hand lane line is l1, from vehicle off-front wheel to right-hand lane
The distance of line is l2, vehicle width according to the pre-stored data is l0, calculate the wide L in lanelaneAre as follows:
Llane=l0+l1+l2
；β ≈ θ in figure, the then bend calculated deviate weight ωiAre as follows:
, it is determined that bend target longitudinal direction filter area CyiAre as follows:
Cyi=[(5i- ωi),(5i+ωi)]；
If
Disobj_x∈Cxi,
And
Disobj_y∈Cyi
, then it is judged as that barrier is located within the scope of curve ahead lane line.
Step 5: relative distance is corrected in bend
As shown in Fig. 5, in figure: R is turning radius, and β is lane line departure angle, and ξ is bend angle, drelativeFor sensing
The target relative distance that device obtains, DrelativeFor actual range, Drelative_1For straight way part actual range, Drelative_2It is curved
Road part actual range, Dislane_xiFor current sampling point lateral distance, Dislane_xi-1For upper sampled point lateral distance.
Actual range is Drelative, including straight way Drelative_1With bend Drelative_2Two parts, each sampling of corner
Point fore-and-aft distance is 5m, lateral distance Dislane_xi-Dislane_xi-1。
Straight way distance Drelative_1Are as follows:
Drelative_1=5j, j ∈ [0,10]
；Adjacent identification point aiThe distance between are as follows:
, then bend distance Drelative_2Are as follows:
；Then final revised actual range DrelativeAre as follows:
Step 6: active collision avoidance collision time TTC is calculated
The relative velocity V of vehicle and barrier is obtained from by millimetre-wave radarrelative, the reality that is calculated according to step S4
Border distance Drelative, collision time TTC is calculated according to the following formula are as follows:
Step 7: active collision avoidance control is carried out according to the threshold condition of setting
Being obtained from vehicle speed by sensor is V0, from vehicle, maximum deceleration is a on present road, then safe distance
DsafeAre as follows:
It is generally lower due to entering curved speed, collision time and relative distance dual threshold condition are comprehensively considered to do safe place
Reason:
If TTC < 2.7s or Drelative< Dsafe, then early warning system issues audible and visible alarm, and driver safety is reminded to drive；
If TTC < 1.3s or Drelative< 2m, then controller issues braking instruction, slows down from vehicle.
Step 8: one is repeated the above steps to step 7, until travelling Environmental security from vehicle.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, although referring to aforementioned reality
Applying example, invention is explained in detail, for those skilled in the art, still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features.It is all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of bend active collision avoidance control method based on Multi-sensor Fusion, which comprises the following steps:
S1, opposite lateral distance, the fore-and-aft distance information from vehicle of barrier is obtained by vehicle-mounted visual sensor, while chasing after in real time
Track lane line simultaneously obtains lane center line position, identifies road ahead bend departure angle；Barrier is obtained by millimetre-wave radar
Relatively from the lateral distance of vehicle, fore-and-aft distance and relative velocity；
S2, the bend departure angle according to road ahead calculate lateral distance of the lane middle line with respect to automobile central axes, determine front
The coordinate range of the lane center of bend；
S3, the coordinate according to the barrier of acquisition with respect to automobile central axes, disturbance in judgement object whether curve ahead lane line
Coordinate range in, filter out effective obstacle target in lane；
S4, data correction is carried out with the relative distance from vehicle to effective obstacle target that sensor obtains, it is real after being corrected
Border target relative distance；
S5, according to millimetre-wave radar obtain barrier with from vehicle relative velocity and amendment after realistic objective relative distance, meter
Calculate the collision time from vehicle and barrier；
S6, collision time is compared with pre-set pre-warning time threshold value and emergency braking threshold value, if collision time is small
In pre-warning time threshold value, then early warning system issues early warning；If collision time is less than emergency braking threshold value, control system pair
Emergency braking processing is made from vehicle.
2. a kind of bend active collision avoidance control method based on Multi-sensor Fusion according to claim 1, feature exist
In in the step S2, visual sensor is along lane center to the primary mark of fore-and-aft distance acquisition from vehicle headstock every n meters
Point ai, and obtain each identification point a on the lane center of frontiWith the bend departure angle β from vehicle central axesi；
Thus identification point aiIt is ni to headstock fore-and-aft distance, identification point a can be obtainediTo the distance from vehicle central axes are as follows:
Dislane_xi=(ni) × tan βi；
Therefore, the opposite coordinate range from vehicle of lane center is (Dislane_xi,ni)。
3. a kind of bend active collision avoidance control method based on Multi-sensor Fusion according to claim 2, feature exist
In in step S3, the opposite coordinate from vehicle of the barrier of acquisition is (Disobj_x,Disobj_y)；
The lateral distance error threshold of default sensor is εi, determine bend target lateral filter area CxiAre as follows:
Cxi=[(Dislane_xi-εi),(Dislane_xi+εi)]；
The distance that visual sensor is obtained from vehicle the near front wheel to left-hand lane line is l1, from vehicle off-front wheel to right-hand lane line away from
From for l2, vehicle width according to the pre-stored data is l0, calculate the wide L in lanelaneAre as follows:
Llane=l0+l1+l2；
The bend of calculating deviates weight ωiAre as follows:
；
Then determine bend target longitudinal direction filter area CyiAre as follows:
Cyi=[(ni- ωi),(ni+ωi)]；
If
Disobj_x∈Cxi,
And
Disobj_y∈Cyi,
Then it is judged as that barrier is located in the coordinate range of curve ahead lane line.
4. a kind of bend active collision avoidance control method based on Multi-sensor Fusion according to claim 3, feature exist
In in step S4, the opposite actual range from vehicle of obstacle target is Drelative, including straight way distance Drelative_1With bend away from
From Drelative_2；
Straight way distance Drelative_1Are as follows:
Drelative_1=nj j ∈ [0,10]；
Adjacent identification point aiThe distance between are as follows:
,
Then bend distance Drelative_2Are as follows:
；
Then actual range DrelativeAre as follows:
5. a kind of bend active collision avoidance control method based on Multi-sensor Fusion according to claim 4, feature exist
In being obtained from the relative velocity V of vehicle and barrier by millimetre-wave radar in step S5relative, it is calculated according to step S4
Actual range Drelative, collision time TTC is calculated according to the following formula are as follows:
6. a kind of bend active collision avoidance control method based on Multi-sensor Fusion according to claim 5, feature exist
In in step S6, while collision time is compared with pre-set pre-warning time threshold value and emergency braking threshold value, also
By the opposite actual range D from vehicle of obstacle targetrelativeWith safe distance DsafeAnd emergency stopping distance is compared, if
DrelativeLess than Dsafe, then early warning system issues early warning；If DrelativeLess than emergency stopping distance, then control system is to certainly
Vehicle makes emergency braking processing.
7. a kind of bend active collision avoidance control method based on Multi-sensor Fusion according to claim 6, feature exist
In being obtained from vehicle speed by sensor is V0, from vehicle, maximum deceleration is a on present road, then safe distance DsafeAre as follows:
8. a kind of bend active collision avoidance controlling party based on Multi-sensor Fusion according to any one of claim 1 to 7
Method, which is characterized in that in step S1, using the radar sensor and visual sensor of identical frame per second, guarantee target data information
Synchronousness；Based on millimetre-wave radar sensor, the target range information that millimetre-wave radar obtains is created as being based on
From the radar data coordinate system of vehicle driving direction, it is corresponding that the target information that visual sensor obtains is transformed into radar sensor
In data coordinate system, guarantee the spatial synchrony of target data information.
9. a kind of bend active collision avoidance control method based on Multi-sensor Fusion according to claim 8, feature exist
In carrying out the establishing identity of barrier according to the information that millimetre-wave radar and visual sensor obtain；
Wherein, the obstacle article coordinate that millimetre-wave radar obtains is (Disr_x,Disr_y), the obstacle article coordinate that visual sensor obtains
For (Disc_x,Disc_y)；
On the basis of millimetre-wave radar data, the abscissa error threshold for presetting millimetre-wave radar data is εx, ordinate error threshold
Value is εy,
If
|Disr_x-Disc_x|≤εx,
And
|Disr_y-Disc_y|≤εy,
Then it is judged as same barrier.
10. a kind of bend active collision avoidance control method based on Multi-sensor Fusion according to claim 9, feature exist
In, taken after barrier establishing identity two barriers received apart from coordinate mean value as final barrier distance sit
Mark, it may be assumed that
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