CN110481550A - A kind of automobile cornering blind area follow-up control method based on car networking - Google Patents
A kind of automobile cornering blind area follow-up control method based on car networking Download PDFInfo
- Publication number
- CN110481550A CN110481550A CN201910655213.0A CN201910655213A CN110481550A CN 110481550 A CN110481550 A CN 110481550A CN 201910655213 A CN201910655213 A CN 201910655213A CN 110481550 A CN110481550 A CN 110481550A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- blind area
- dead
- speed
- bend
- 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
- 230000006855 networking Effects 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000008034 disappearance Effects 0.000 claims abstract description 4
- 238000000605 extraction Methods 0.000 claims abstract 2
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 2
- 230000007704 transition Effects 0.000 claims description 2
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 241000736199 Paeonia Species 0.000 description 2
- 235000006484 Paeonia officinalis Nutrition 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automobile cornering blind area follow-up control method based on car networking, when front truck does not enter negotiation of bends blind area, according to car networking system obtain preceding vehicle speed and relative distance and from vehicle carry sensor obtain from vehicle driving information, establish the safe following distance equation of automobile cornering；Feature extraction is carried out by the running environment image and front truck that acquire to vehicle-borne CCD camera, determine driving direction road ahead characteristics of image disappearance edge line, that is the boundary of automotive check blind area, identification comes from vehicle to the distance of dead-zone boundary, the relative position of the front truck tailstock and dead-zone boundary line is identified simultaneously, when the front truck tailstock and dead-zone boundary line are overlapped, master control ECU, which makes, follows target to be shifted by front truck as dead-zone boundary line, the speed of automobile in blind area is obtained by car networking V2V system, the speed is merged with the dead-zone boundary identified, it forms the virtual dead-zone boundary for having speed and follows model, vehicle follows model safety to pass through bend according to this.
Description
Technical field
The present invention relates to a kind of automobile cornering blind area follow-up control method based on car networking, belongs to ride safety of automobile skill
Art field.
Background technique
Self-adaption cruise system (ACC, Adaptive Cruise control System) must not as auxiliary driving
Can small part, be able to ascend driving safety, can replace driver's regulation speed, avoid frequent cancel and setting cruise control
System, makes cruise system be suitable for more road conditions, provides a kind of more easily drive manner for driver.But before following
When vehicle enters bend, if front truck enters in bend blind area, moment it can cause to follow target to lose from vehicle, and negotiation of bends drives
The information interaction deficiency of person's limited view, vehicle vehicle easily causes traffic accident.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of automobile cornering blind area based on car networking with
With control method, when as following the front truck of target not enter negotiation of bends blind area, before being obtained according to car networking system
Vehicle speed and relative distance is obtained by millimetre-wave radar and the sensor that carries from vehicle obtains from vehicle driving information, established
The safe following distance equation of automobile cornering；Feature is carried out by the running environment image and front truck that acquire vehicle-borne CCD camera to mention
It takes, determines driving direction road ahead characteristics of image disappearance edge line, the i.e. boundary of automotive check blind area, identification comes from vehicle to blind
The distance on area boundary, while identifying the relative position of the front truck tailstock and dead-zone boundary line, in the front truck tailstock and dead-zone boundary line weight
When conjunction, master control ECU make follow target by front truck transfer be dead-zone boundary line, pass through car networking V2V system obtain blind area in vapour
The speed of vehicle, the speed that will acquire are merged with the dead-zone boundary identified, form the virtual dead-zone boundary for having speed
Follow model, safety bend.
The technical scheme adopted by the invention is that:
A kind of automobile cornering blind area follow-up control method based on car networking includes the following steps:
Step 1: being obtained by the car networking V2V system (vehicle and vehicle communication system) from vehicle as the preceding speed for following target
Spend Vf, traveling relative distance D between fore-aft vehiclerMillimetre-wave radar by being mounted on Chinese herbaceous peony from vehicle obtains, from the travel speed of vehicle
VrBy being obtained from vehicle speed sensor, electronic map information is merged by GPS system and obtains turning radius R.
The step 2:CCD camera moment detects the relative position as the front truck tailstock and road dead-zone boundary for following target,
When the front truck tailstock is not overlapped with dead-zone boundary and has certain relative position, front truck can be used as the target that follows from vehicle, root
According to the two vehicle relative distance D obtained from vehicle millimetre-wave radarr, the preceding vehicle speed V of car networking system acquisitionfIt is sensed with from vehicle speed
Device obtain from vehicle speed VrAnd the information such as turning radius R, it establishes automobile cornering safe distance and follows equation, used peace
Full distance equation are as follows:
Wherein, Dw: the relative distance D between curved road safety following distance and two vehiclesrD should be more than or equal tow；
Dh: after indicating that braking stops, it being still at a distance from holding from vehicle and target workshop, is generally taken as 2-5 meters；
Tr-b: motor vehicle braking system response and braking time are generally taken as 0.3 second；
Vr: from vehicle speed；
Vf: preceding vehicle speed, g: acceleration of gravity；
μ: coefficient of road adhesion；
R: turning radius；
If detect that the front truck tailstock will be overlapped with bend dead-zone boundary line, it is blind to illustrate that front truck will enter bend at once
It in area, is made from vehicle ECU and follows goal displacement order, gone off the curve following target to become being identified by vehicle-borne CCD camera from front truck
Road blind area disappearance boundary line obtains preceding vehicle speed V in blind area by car networking V2V systemc, while measuring blind with road from vehicle
The distance D on area boundaryc, the preceding vehicle speed that car networking V2V system obtains is given to dead-zone boundary line, dead-zone boundary is regarded as
One has merged the virtual tracking target of preceding vehicle speed, and synthesis establishes safe distance from vehicle driving information and follows equation；
Control method employed in step 2 is, when follow target vehicle be not completely into in bend blind area, can be with
When as effectively following target, the relative distance D of vehicle and front truck is obtained from by millimetre-wave radarr, right in vehicle control ECU
DrThe D being calculated with the running information and road information according to acquisitionwIt is compared, works as Dw> DrWhen can take it is appropriate
Accelerate, so that DrClose to DwGuarantee the high efficiency of follow the bus, but easily causes the hair of traffic accident when bend is run at high speed
It is raw, it defines speed secure threshold a Tc, Tc herein and is taken as 40km/h, i.e., when following speed to reach 40km/h in bend from vehicle,
Even if DrMuch larger than DwAlso do not accelerating to follow up to ensure the safety from vehicle negotiation of bends；Work as Dw< DrWhen explanation follow herein
Static or emergency brake has a possibility that collision to front truck suddenly under state, and the center vehicle control ECU departure instructions are to from vehicle at this time
Speed carries out braking deceleration appropriate, so that it is met D by the speed adjustment from vehicler> Dw；
When CCD camera detects that the front truck tailstock will be overlapped with bend dead-zone boundary line, illustrate that front truck will enter at once
In bend blind area, center ECU issues tracking goal displacement order at this time, and target will be tracked when front truck enters in bend blind area
It is changed into bend blind area lane boundary line, while obtained from vehicle to the distance D to dead-zone boundary linec, obtained by car networking V2V system
Take the front truck velocity information V in bend blind areaf, the V of the front truck speed of acquisitionfRegard the movement velocity V of dead-zone boundary asc,
Dead-zone boundary regards that one has merged the virtual of preceding vehicle speed and follows target as, VcSafe distance equation is brought into find out accordingly
Safe distance DwIf Dw< DcIt can be fitted in the case where meeting speed and being no more than the Tc of bend speed secure threshold
When acceleration, work as Dw> DcWhen, then braking deceleration appropriate is carried out to control from vehicle speed, so that Dw< DcTo ensure that bend is logical
The safety crossed.
When passing through bend blind area, the front truck for following target can be used as by the way that whether CCD camera identification front has, if there is
Then safety follows front truck, and cruise mode is entered if not.
Beneficial effects of the present invention include；
(1) the bend blind area system for tracking proposed by the present invention based on car networking can be avoided bend and follow follows when driving
Target front truck enter from vehicle identification less than blind area in cause the dangerous situation that target momentary loss is followed from vehicle, improve curved
Safety of the road with following vehicle.
(2) speed proposed by the present invention obtained based on car networking is given to dead-zone boundary, follows high efficiency improving
While can keep suitable safe following distance to front truck existing in blind area, the risk of front truck in the blind area that avoids knocking into the back.
(3) present invention proposes to carry out following goal displacement, Neng Goushi when the target carriage tailstock is overlapped with bend dead-zone boundary
Now quickly switch without loss.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is that target front truck is followed not enter blind area schematic diagram；
Fig. 3 is that target front truck is followed to enter the schematic diagram in blind area.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
The present invention provides a kind of bend blind area follower method based on car networking, as shown in Figure 1, including following step
It is rapid:
Step 1: following front truck to enter negotiation of bends, obtain front truck, from vehicle and bend environmental information.
CCD can be may be mounted in vehicle front bumper with industrial camera, be used for front vehicles location information and bend
Environmental information is transferred to electronic control unit ECU；Trailer-mounted radar is set as 3, wherein 1 is arranged in front of the car bumper bar
Between position, other two is individually positioned in front end bumper both ends, for detecting relative distance information and biography from vehicle and front truck
It is defeated by electronic control list ECU.
The vehicle self information is obtained by vehicle body sensor and GPS, and the information of acquisition includes: car speed, vehicle
Current location, as following the front truck velocity information of target to there is the car networking V2V system carried from vehicle to obtain in real time.
The turning radius is by the available bend curvature K of GPS system combination electronic map information, according to formula R=
Turning radius is calculated in 1/k.
Step 2:
(1) it when front truck does not enter in bend blind area, can be used as from vehicle when following target, as shown in Figure 2；
By the front vehicle position that CCD camera identifies be F and the boundary of bend blind area is A and B, in ECU to the front truck tailstock and
The relative position dead-zone boundary AB is identified that there are also a certain distance if front truck back range is from dead-zone boundary, will be overlapped
Trend, front truck can be used as from vehicle and follow target at this time, pass through car networking V2V system G from vehicle (vehicle and vehicle communication system)
It obtains as the preceding vehicle speed V for following targetf, traveling relative distance D between fore-aft vehiclerBy being mounted on Chinese herbaceous peony bumper from vehicle
On millimetre-wave radar obtain, from the travel speed V of vehiclerBy being obtained from vehicle speed sensor, electronically by GPS system fusion
Figure acquisition of information turning radius R.
Curved road safety following distance equation is established in conjunction with obtained information；
Wherein, Dw: the relative distance D between curved road safety following distance and two vehiclesrD should be more than or equal tow；
Dh: after indicating that relative velocity is eliminated, it is still at a distance from holding from vehicle and target workshop, is generally taken as 2-5 meters；
Tr-b: motor vehicle braking system response and braking time are generally taken as 0.3 second；
Vr: from vehicle speed；
Vf: preceding vehicle speed, g: acceleration of gravity；μ: coefficient of road adhesion, R: turning radius；
To the two vehicle relative distance D by being obtained from vehicle millimetre-wave radar in vehicle control ECUrWith the driving according to acquisition
The D that information, road information are calculatedwIt is compared, works as Dw> DrWhen can take acceleration appropriate so that DrClose to DwTo protect
The high efficiency of follow the bus is demonstrate,proved, but easily causes traffic accident when bend is run at high speed, defines a speed peace herein
Full threshold value Tc, Tc are taken as 40km/h, i.e., when following speed to reach 40km/h in bend from vehicle, even if DrMuch larger than DwAlso do not adding
Speed follow-up is to ensure the safety from vehicle negotiation of bends；Work as Dw< DrWhen explanation under this following state front truck suddenly it is static or tight
Bringing to a halt has a possibility that collision, and the center vehicle control ECU departure instructions carry out braking deceleration appropriate to from vehicle speed at this time,
It is set to meet D by adjusting from the speed of vehiclew> Dr, follow front truck to pass through dead-zone boundary safely.
(2) when following target to enter bend blind area, take bend dead-zone boundary as target is followed, as shown in Figure 3；
By existing convolutional neural networks image recognition algorithm, by containing vehicle tail and road dead-zone boundary
A large amount of pictures are trained identification, are labeled vehicle tail boundary line and road dead-zone boundary line by identifying.It has trained
Cheng Houzai is tested by a certain number of positive negative samples, checks identification mark accuracy rate, if accuracy rate reaches 98% or more,
Illustrate that recognizer can identify vehicle tail boundary and road dead-zone boundary；Continue if recognition accuracy is not achieved
It is trained by positive sample, until meeting the requirements.In vehicle travel process, pass through CCD camera and trained convolution mind
Front vehicles tail portion and road dead-zone boundary line are identified through the network image recognizer moment, when CCD camera recognizes
When the boundary of the front truck tailstock and bend blind area is that A, B will be overlapped, illustrate that front truck will enter in blind area at once, at this time center ECU
Issue tracking goal displacement order, when front truck enters in bend will tracking target transition be bend blind area lane boundary line A,
B, while identifying by CCD camera the distance D of dead-zone boundary line ABc, while being obtained in bend blind area by car networking V2V system
Front truck velocity information Vf, the V of the front truck speed of acquisitionfThe movement velocity for regarding dead-zone boundary as regards dead-zone boundary AB as
It is that the virtual preceding vehicle for having merged preceding vehicle speed follows target, VfIt brings safe distance equation into and finds out corresponding safe distance
DwIf Dw< DcAcceleration appropriate can be carried out in the case where meeting speed and being no more than the Tc of bend speed secure threshold, this
When automobile maximum speed be still less than bend speed secure threshold TC；Work as Dw> DcWhen, then carry out braking deceleration appropriate
Control is from vehicle speed, so that Dw< DcCome ensure bend follow by safety.When passing through bend blind area, pass through CCD camera
Whether identification front, which has, can be used as the front truck for following target, if there is then safety follows front truck, patrol if not into constant speed
Model plane formula.
Bend blind area system for tracking proposed by the present invention based on car networking can be avoided bend and follow follows mesh when driving
Mark front truck enter from vehicle identification less than blind area in caused by follow from vehicle the dangerous situation of target momentary loss, improve curved
Safety coefficient of the road with following vehicle；Preceding vehicle speed in the blind area of car networking system acquisition has been merged simultaneously assigns dead-zone boundary conduct
Target is followed, high efficiency and safety when negotiation of bends are improved.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of automobile cornering blind area follow-up control method based on car networking, which is characterized in that before as target is followed
When vehicle does not enter negotiation of bends blind area, obtained according to the preceding vehicle speed of car networking system acquisition and by millimetre-wave radar opposite
Distance and from vehicle carry sensor obtain from vehicle driving information, establish the safe following distance equation of automobile cornering；Pass through
Feature extraction is carried out to the running environment image and front truck of the acquisition of vehicle-borne CCD camera, determines that driving direction road ahead image is special
Disappearance edge line, the i.e. boundary of automotive check blind area are levied, identification comes from vehicle to the distance of dead-zone boundary, while identifying the front truck tailstock
With the relative position of dead-zone boundary line, when the front truck tailstock and dead-zone boundary line are overlapped, master control ECU, which makes, follows target by front truck
Transfer be dead-zone boundary line, by car networking V2V system obtain blind area in automobile speed, the speed that will acquire with identify
Dead-zone boundary fusion, formed one it is virtual there is the dead-zone boundary of speed to follow model, vehicle follows model safety according to this
Pass through bend.
2. a kind of automobile cornering blind area follow-up control method based on car networking according to claim 1, which is characterized in that
The realization of the method includes the following steps:
Step 1: vehicle itself, front vehicles and bend environmental information are obtained by onboard sensor；
Step 2: by analysis vehicle itself and environmental information, when front vehicles enter bend, do not enter in bend blind area,
Using front truck as target is followed, establishes curved road safety and follow equation；
Step 3: the relative position of front vehicles and bend dead-zone boundary line is detected by the CCD camera moment carried from vehicle, when
Master controller, which is made, when the front truck tailstock is overlapped with bend dead-zone boundary line follows goal displacement, and the dead-zone boundary line detected is made
For the virtual target followed；
Step 4: obtaining the speed of vehicle in blind area by Vehicular system, speed is merged with dead-zone boundary line, blind area
Boundary line regards the virtual target of one with front truck constant speed as, establishes safety and follows equation, follows to virtual target；
Step 5: from after vehicle safety bend blind area, if discovery front vehicles, continue that front truck is followed to travel, otherwise according to limit
Speed requires to enter cruise mode；
Step 6: the moment judges whether that front truck is followed to enter bend, if front truck is followed to enter bend, repeats step 1 to 5, Zhi Daoche
Reach safety place.
3. a kind of automobile cornering blind area follow-up control method based on car networking according to claim 2, which is characterized in that
Vehicle, environmental information in the step 1 include: current driving from vehicle and front vehicles status information, bend environmental information,
The bend dead-zone boundary detected.
4. a kind of automobile cornering blind area follow-up control method based on car networking according to claim 2, which is characterized in that
The vehicle environmental information is obtained by GPS, millimetre-wave radar and CCD industrial camera.
5. a kind of automobile cornering blind area follow-up control method based on car networking according to claim 2, which is characterized in that
The curved road safety established in the step 2 follows equation are as follows:
Wherein, Dw: the relative distance D between curved road safety following distance and two vehiclesrD should be more than or equal tow；
Dh: after indicating that braking stops, it being still at a distance from holding from vehicle and target workshop, is generally taken as 2-5 meters；
Tr-b: motor vehicle braking system response and braking time are generally taken as 0.3 second；
Vr: from vehicle speed；
Vf: preceding vehicle speed, g: acceleration of gravity；
μ: coefficient of road adhesion；
R: turning radius.
6. a kind of automobile cornering blind area follow-up control method based on car networking according to claim 2, which is characterized in that
The safety established in the step 4 follows equation are as follows:
7. a kind of automobile cornering blind area follow-up control method based on car networking according to claim 5, which is characterized in that
The follow-up control method of the step 2 are as follows:
The relative distance D of vehicle and front truck is obtained from by millimetre-wave radarr, to D in vehicle control ECUrWith the row according to acquisition
The D that vehicle information and road information are calculatedwIt is compared, works as Dw>DrWhen can take acceleration appropriate so that DrClose to DwCome
Guarantee the high efficiency of follow the bus；Define a speed secure threshold Tc, i.e., when following speed to reach Tc in bend from vehicle, even if Dr
Much larger than DwAlso do not accelerating to follow up to ensure the safety from vehicle negotiation of bends；Work as Dw<DrWhen explanation under this following state before
Static or emergency brake has a possibility that collision to vehicle suddenly, and the center vehicle control ECU departure instructions are carried out to from vehicle speed at this time
Braking deceleration appropriate makes it meet D by the speed adjustment from vehicler>Dw。
8. a kind of automobile cornering blind area follow-up control method based on car networking according to claim 6, which is characterized in that
Follow-up control method of the step 4 to virtual target:
It is bend blind area lane boundary line that target transition will be tracked when front truck enters in bend blind area, while being arrived obtained from vehicle
To the distance D of dead-zone boundary linec, the front truck velocity information V in bend blind area is obtained by car networking V2V systemf, before acquisition
The V of vehicle speedfRegard the movement velocity V of dead-zone boundary asc, dead-zone boundary is regarded as has merged the virtual of preceding vehicle speed
Follow target, VcIt brings safe distance equation into and finds out corresponding safe distance DwIf Dw<DcIt is no more than meeting speed
Acceleration appropriate can be carried out in the case where the Tc of bend speed secure threshold, work as Dw>DcWhen, then carry out braking deceleration appropriate
It controls from vehicle speed, so that Dw<DcTo ensure safety that bend passes through.
9. a kind of automobile cornering blind area follow-up control method based on car networking according to claim 7 or 8, feature exist
In Tc is taken as 40km/h.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910655213.0A CN110481550B (en) | 2019-07-19 | 2019-07-19 | Automobile curve blind area following control method based on Internet of vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910655213.0A CN110481550B (en) | 2019-07-19 | 2019-07-19 | Automobile curve blind area following control method based on Internet of vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110481550A true CN110481550A (en) | 2019-11-22 |
| CN110481550B CN110481550B (en) | 2021-06-22 |
Family
ID=68547508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910655213.0A Active CN110481550B (en) | 2019-07-19 | 2019-07-19 | Automobile curve blind area following control method based on Internet of vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110481550B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319441A (en) * | 2020-10-23 | 2021-02-05 | 上善智城(苏州)信息科技有限公司 | Electronic braking auxiliary braking system and method based on intelligent automobile networking |
| CN114559941A (en) * | 2022-03-21 | 2022-05-31 | 合众新能源汽车有限公司 | Vehicle curve driving early warning method, system, device and computer readable medium |
| CN115482679A (en) * | 2022-09-15 | 2022-12-16 | 深圳海星智驾科技有限公司 | Automatic driving blind area early warning method and device and message server |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005148937A (en) * | 2003-11-12 | 2005-06-09 | Nissan Motor Co Ltd | Recommended speed calculation device for vehicle |
| KR20120053176A (en) * | 2010-11-17 | 2012-05-25 | 김신호 | The vehicle's front and rear collision warning devices and collision warning method using the same |
| CN105015548A (en) * | 2015-07-23 | 2015-11-04 | 江苏大学 | Longitudinal collision avoidance reminding and automatic following integration system and method |
| JP2016095822A (en) * | 2014-11-17 | 2016-05-26 | 鴻海精密工業股▲ふん▼有限公司 | Monitoring alarm system against blind spot area of automobile, and automobile |
| CN106004873A (en) * | 2016-05-26 | 2016-10-12 | 江苏大学 | Car curve collision avoidance and stability system coordination control method based on V2X car networking |
| US20170297622A1 (en) * | 2014-10-09 | 2017-10-19 | Robert Bosch Gmbh | Method and device for assisting a driver of a vehicle when driving onto a carriageway via an approach road |
| US20180188734A1 (en) * | 2016-12-29 | 2018-07-05 | Baidu Usa Llc | Method and system for improving stability of autonomous driving vehicles |
| CN108528445A (en) * | 2018-03-29 | 2018-09-14 | 江苏大学 | A kind of intelligent automobile sensor blind area active collision avoidance method |
| CN109767651A (en) * | 2019-02-12 | 2019-05-17 | 桂林电子科技大学 | A kind of typical curved areas seamless communication method under V2X environment |
-
2019
- 2019-07-19 CN CN201910655213.0A patent/CN110481550B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005148937A (en) * | 2003-11-12 | 2005-06-09 | Nissan Motor Co Ltd | Recommended speed calculation device for vehicle |
| KR20120053176A (en) * | 2010-11-17 | 2012-05-25 | 김신호 | The vehicle's front and rear collision warning devices and collision warning method using the same |
| US20170297622A1 (en) * | 2014-10-09 | 2017-10-19 | Robert Bosch Gmbh | Method and device for assisting a driver of a vehicle when driving onto a carriageway via an approach road |
| JP2016095822A (en) * | 2014-11-17 | 2016-05-26 | 鴻海精密工業股▲ふん▼有限公司 | Monitoring alarm system against blind spot area of automobile, and automobile |
| CN105015548A (en) * | 2015-07-23 | 2015-11-04 | 江苏大学 | Longitudinal collision avoidance reminding and automatic following integration system and method |
| CN106004873A (en) * | 2016-05-26 | 2016-10-12 | 江苏大学 | Car curve collision avoidance and stability system coordination control method based on V2X car networking |
| US20180188734A1 (en) * | 2016-12-29 | 2018-07-05 | Baidu Usa Llc | Method and system for improving stability of autonomous driving vehicles |
| CN108528445A (en) * | 2018-03-29 | 2018-09-14 | 江苏大学 | A kind of intelligent automobile sensor blind area active collision avoidance method |
| CN109767651A (en) * | 2019-02-12 | 2019-05-17 | 桂林电子科技大学 | A kind of typical curved areas seamless communication method under V2X environment |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319441A (en) * | 2020-10-23 | 2021-02-05 | 上善智城(苏州)信息科技有限公司 | Electronic braking auxiliary braking system and method based on intelligent automobile networking |
| CN114559941A (en) * | 2022-03-21 | 2022-05-31 | 合众新能源汽车有限公司 | Vehicle curve driving early warning method, system, device and computer readable medium |
| CN114559941B (en) * | 2022-03-21 | 2024-04-12 | 合众新能源汽车股份有限公司 | Vehicle curve driving early warning method, system, device and computer readable medium |
| CN115482679A (en) * | 2022-09-15 | 2022-12-16 | 深圳海星智驾科技有限公司 | Automatic driving blind area early warning method and device and message server |
| CN115482679B (en) * | 2022-09-15 | 2024-04-26 | 深圳海星智驾科技有限公司 | Automatic driving blind area early warning method and device and message server |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110481550B (en) | 2021-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106891890B (en) | Automobile active anti-collision system | |
| CN112373477B (en) | Redundancy control method for automatic driving system, automobile, controller, and computer-readable storage medium | |
| CN105722738B (en) | The drive dynamic control device of moving body | |
| CN110517521A (en) | A kind of lane departure warning method based on road car fusion perception | |
| CN105593700B (en) | Adaptive learning algorithms with Entrance ramp detection | |
| CN105844967A (en) | Vehicle collision warning and active control method based on vehicle communication | |
| CN110723141B (en) | Vehicle active collision avoidance system and collision avoidance mode switching method thereof | |
| CN106004873B (en) | A kind of automobile cornering collision avoidance based on V2X car networkings and constancy system control method for coordinating | |
| CN108284842B (en) | To anti-collision system assessment technique metrics-thresholds calculation method before a kind of vehicle | |
| CN110155046A (en) | Automatic emergency brake hierarchical control method and system | |
| CN109760678A (en) | A kind of method for limiting speed of automotive self-adaptive cruise system | |
| CN105667509A (en) | Curve control system and method applied to automobile adaptive cruise control (ACC) system | |
| CN110949378B (en) | Anti-collision rear-end collision method for automobile under high-speed working condition | |
| CN108674412A (en) | A kind of vehicle active collision avoidance method merged using sensor | |
| CN110481550A (en) | A kind of automobile cornering blind area follow-up control method based on car networking | |
| CN109131312A (en) | A kind of intelligent electric automobile ACC/ESC integrated control system and its method | |
| CN107867283A (en) | Integrated form FCW/ACC/AEB systems and vehicle based on forecast model | |
| US11524680B2 (en) | Control device and control method for controlling behavior of motorcycle | |
| CN101612938A (en) | Be used for the judgement line computation of Vehicle security system | |
| CN106205148A (en) | A kind of dangerous goods tank car curved road safety speed acquisition methods and hypervelocity caution system | |
| CN110103959A (en) | A kind of self-adapting cruise control method | |
| CN110121451A (en) | Leading vehicle decision maker and vehicle control system | |
| CN204845924U (en) | Vertically keep away to hit and remind and follow integrated system automatically | |
| CN105501221A (en) | Self-adaptive cruise system and control method based on vehicle to vehicle communication | |
| CN106043277B (en) | Automobile is automatically with vehicle control and the automatic follow the bus system and method for method, automobile, control radar forward method |
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 |