CN112606837A - Vehicle obstacle avoidance system and method with cooperative steering and braking - Google Patents

Vehicle obstacle avoidance system and method with cooperative steering and braking Download PDF

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Publication number
CN112606837A
CN112606837A CN202011556368.8A CN202011556368A CN112606837A CN 112606837 A CN112606837 A CN 112606837A CN 202011556368 A CN202011556368 A CN 202011556368A CN 112606837 A CN112606837 A CN 112606837A
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vehicle
steering
driver
obstacle avoidance
braking
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高航
梁军
许阁
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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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
    • 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
    • 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
    • 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
    • B60W2520/12—Lateral speed
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/803—Relative lateral speed
    • 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
    • B60W2554/804—Relative longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)

Abstract

The invention discloses a vehicle obstacle avoidance system and method with cooperative steering and braking, wherein the system comprises: the vehicle sensing unit is used for acquiring the relative distance S, the angle and the speed of the vehicle between the vehicles in front in real time when the vehicle speed is greater than the set threshold speed; the collision risk judging unit is used for judging whether the vehicle and the vehicle in front exist in collision risk or not according to the information acquired by the vehicle sensing unit; the driver sensing unit is used for detecting the driving control information of the driver when the collision risk judging unit judges that the collision risk exists; the planning control unit is used for carrying out obstacle avoidance decision by integrating the perception fusion information output by the vehicle perception unit and the driver control information output by the driver perception unit; and the vehicle execution unit is used for driving a relevant mechanism to control the vehicle to automatically brake or automatically steer according to the obstacle avoidance decision result. The invention determines the auxiliary direction of the ADAS system according to the reaction of the driver when facing risks, thereby optimizing the use experience of the ADAS system.

Description

Vehicle obstacle avoidance system and method with cooperative steering and braking
Technical Field
The invention relates to an intelligent automobile driving assisting technology, in particular to a vehicle obstacle avoidance system and method with cooperative steering and braking.
Background
An AEB (automatic emergency braking system) is a control system that automatically requests the vehicle to alarm and brake to avoid or reduce the collision between the vehicle and the target object by determining the potential collision risk through a sensing system. The AEB system can provide FCW, AEB functions, which can be viewed as sub-functions of the AEB.
The AEB is intended to reduce the likelihood of a forward collision under medium and low speed conditions. The AEB is executed generally when the vehicle speed is greater than 80km/h, the vehicle braking target is changed from "avoid collision" to "alleviate collision". Since the occurrence of a collision may not be avoided even with the maximum braking force permitted by the vehicle.
Braking of the AEB system is commonly employed in the market as a means of collision avoidance. Braking requests may also be interrupted or cancelled due to a detected change in the target, a driver heavy gas pedal, or an emergency steering active collision. Meanwhile, the vehicle is braked by the maximum braking force, so that rear-end collision of the vehicle by a rear vehicle is possibly caused, and secondary collision is caused.
Disclosure of Invention
The invention aims to solve the technical problem of providing a vehicle obstacle avoidance system and method with cooperative steering and braking aiming at the defects in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a vehicle obstacle avoidance method with cooperative steering and braking comprises the following steps:
1) when the vehicle is in gear and enters the forward gear, and the vehicle speed is greater than the set threshold speed VminSensing information of an external obstacle of the vehicle through a sensor, and acquiring the relative distance S, the angle and the speed of the vehicle between the front vehicles in real time;
2) judging whether the vehicle and the vehicle in front have collision risks or not according to the acquired information; if yes, turning to step 3);
3) detecting the braking and obstacle avoiding intention of a driver, if the fact that the depth of the brake pedal which is stepped on by the driver is larger than a set triggering threshold or the stepping speed of the brake pedal is higher than a set threshold is detected, and the driver attention monitoring device judges that the attention area of the driver is the front area of continuous attention, judging that the driver has the braking intention, triggering the braking and obstacle avoiding function, and turning to step 6);
otherwise, judging that the driver does not have the braking obstacle avoidance intention, and turning to the step 4) to judge the steering intention;
the driver attention monitoring device is used for judging a driver attention area according to the position of eyeballs of the detected driver;
4) detecting the steering obstacle avoidance intention of a driver, if the steering torque of a steering wheel is larger than a set threshold value or the change rate of the steering wheel corner exceeds a set threshold value and the attention monitoring device of the driver catches that the driver pays attention to a rearview mirror system, judging that the driver has the steering obstacle avoidance intention, triggering a steering obstacle avoidance function, and turning to the step 6); if the driver is judged to have no intention of steering and avoiding obstacles, the step 5 is carried out;
5) if S>SmTriggering a steering obstacle avoidance function, otherwise triggering a braking obstacle avoidance function;
Smthe minimum steering obstacle avoidance distance is the minimum distance required for avoiding the front obstacle by steering on the premise of ensuring the driving safety;
6) if the braking obstacle avoidance function is triggered, braking is carried out within the maximum braking force range allowed by the vehicle so as to reduce the vehicle speed and further reduce the severity of the possible collision accidents;
if the steering obstacle avoidance function is triggered, the auxiliary steering device for continuously driving the vehicle assists a driver to avoid an obstacle in a relatively safe area of the vehicle.
According to the scheme, the following mode is adopted for judging whether the vehicle and the vehicle in front exist in the collision risk in the step 2):
when S is<SthOr TTC<TTCthJudging that the vehicle has collision risk; wherein S isthDetermining a threshold value, TTC, for a collision distancethThe threshold is triggered for a minimum time to collision.
According to the scheme, the collision distance judgment threshold SthThe minimum collision time triggers the threshold TTC which is determined according to the speed of the vehicle, the type of the vehicle and the speed of the front vehiclethAccording to vehicle type, vehicle selected systemAnd calibrating the response time of the mobile device and the vehicle system together.
According to the scheme, in the step 6), a steering obstacle avoidance function is triggered, and an auxiliary steering device for continuously driving the vehicle assists a driver in avoiding an obstacle in a relatively safe area of the vehicle, and the method specifically comprises the following steps:
and (2) planning a safe steering track according to the relative distance S, angle and speed information of the vehicle and the front vehicle collected in real time in the step 1), continuously controlling the steering force of the vehicle, and adapting to the real-time longitudinal speed so as to follow a planned safe steering avoidance path to avoid obstacles.
A cooperative steering and braking vehicle obstacle avoidance system, comprising:
a vehicle sensing unit for sensing whether the vehicle is in a forward gear or not and whether the vehicle speed is higher than a set threshold speed V or notminSensing information of an external obstacle of the vehicle through a sensor, and acquiring the relative distance S, the angle and the speed of the vehicle between the front vehicles in real time;
the collision risk judging unit is used for judging whether the vehicle and the vehicle in front exist in collision risk or not according to the information acquired by the vehicle sensing unit;
the driver sensing unit is used for detecting the driving control information of the driver when the collision risk judging unit judges that the collision risk exists; the driving control information includes: the depth and the tread speed of the action of treading the brake pedal, the attention area of the driver, the steering force and the steering wheel angle of the steering wheel of the driver;
the planning control unit is used for carrying out obstacle avoidance decision by integrating the perception fusion information output by the vehicle perception unit and the driver control information output by the driver perception unit; the obstacle avoidance decision comprises braking obstacle avoidance and steering obstacle avoidance;
and the vehicle execution unit is used for driving a relevant mechanism to control the vehicle to automatically brake or automatically steer according to the obstacle avoidance decision result.
According to the scheme, the collision risk judging unit judges whether the vehicle and the vehicle in front of the vehicle have collision risks by adopting the following modes:
when S is<SthOr TTC<TTCthJudging that the vehicle has collision risk; wherein S isthDetermining a threshold value, TTC, for a collision distancethThe threshold is triggered for a minimum time to collision.
According to the scheme, the collision distance judgment threshold SthThe minimum collision time triggers the threshold TTC which is determined according to the speed of the vehicle, the type of the vehicle and the speed of the front vehiclethAnd calibrating the brake device selected by the vehicle and the response time of the vehicle system together according to the type of the vehicle.
According to the scheme, the planning control unit carries out obstacle avoidance decision, and the method specifically comprises the following steps:
1) detecting the braking obstacle avoidance intention of a driver, if the fact that the depth of the brake pedal which is stepped on by the driver is larger than a set triggering threshold or the stepping speed of the brake pedal is higher than a set threshold is detected, and the attention area of the driver is the front of continuous attention area is detected, judging that the driver has the braking intention, and triggering the braking obstacle avoidance function;
2) detecting the steering obstacle avoidance intention of a driver, if the steering torque of a steering wheel is larger than a set threshold value or the change rate of the steering wheel corner exceeds a set threshold value and the attention monitoring device of the driver catches that the driver pays attention to a rearview mirror system, judging that the driver has the steering obstacle avoidance intention, and triggering a steering obstacle avoidance function;
3) if the driver is judged not to have the intention of steering and avoiding the obstacle, the S is carried out>SmTriggering a steering obstacle avoidance function; otherwise, triggering a braking obstacle avoidance function;
Smthe minimum steering obstacle avoidance distance is the minimum distance required for safely steering and avoiding the obstacle for the vehicle, namely, the minimum distance required for avoiding the front obstacle by steering is achieved on the premise of ensuring driving safety.
According to the scheme, in the vehicle execution unit, the drive related mechanism controls the vehicle to automatically brake within the maximum braking force range allowed by the vehicle so as to reduce the vehicle speed;
the auxiliary steering device for driving the relevant mechanism to control the vehicle to automatically steer to continuously drive the vehicle assists a driver to avoid obstacles in a relatively safe area of the vehicle.
According to the scheme, in the vehicle execution unit, the driving related mechanism controls the vehicle to automatically steer specifically as follows: and planning a safe steering track according to the information of the relative distance S, the angle and the speed of the vehicle and the front vehicle which are collected in real time in the vehicle sensing unit, continuously controlling the steering force of the vehicle, and adapting to the real-time longitudinal speed so as to follow a planned safe steering avoiding path to avoid the obstacle.
The invention has the following beneficial effects:
1. the method comprises the following steps of collecting the reaction of a driver facing risks, and determining the auxiliary direction of the ADAS system instead of the traditional programmed reaction, thereby optimizing the use experience of the ADAS system;
2. the hardware used by the method is assembled in most ADAS driving systems, such as a fatigue monitoring system, the data are collected, and no additional hardware is needed after the optimization by the method;
3. the invention can be compatible with the jump and safety margin of the existing system, for example, the driver does not react in the braking process, and the system can still achieve the effect of automatically selecting braking or steering obstacle avoidance.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method of an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, a method for obstacle avoidance of a vehicle with cooperative steering and braking includes the following steps:
1) when the vehicle is in gear and enters the forward gear, and the vehicle speed is greater than the set threshold speed VminIn time, the information of the external obstacles of the vehicle is sensed through the sensor, and the relative position between the vehicle and the front vehicle is acquired in real timeDistance S, angle and speed;
wherein the threshold speed VminThe setting of the numerical value is generally selected from 5km/h to 8km/h, the purpose of setting the numerical value is to prevent the function of the vehicle from being triggered by mistake in a parking lot or a low-speed vehicle following scene, and the specific numerical value needs to be calibrated according to different vehicles installed in the system;
the information optional sensor perception source for perceiving the external obstacle of the vehicle comprises the following components: the system comprises a single millimeter wave radar, a single camera, a single laser radar, a millimeter wave radar + camera and the like. By way of example of common combination, in the scheme adopted in the embodiment, a sensor source is formed by a millimeter wave radar and a laser radar, and a sensing fusion module receives an original signal output by the sensor, and then performs data calculation and fusion to finally obtain necessary information required for obstacle avoidance, such as the distance, the angle, the speed and the like of an obstacle relative to the vehicle.
2) Judging whether the vehicle and the vehicle in front are in collision risk or not according to the acquired information; if yes, turning to step 3);
when S is<SthOr TTC<TTCthAnd judging that the vehicle has a collision risk, and judging that the vehicle has no risk when the two conditions do not meet the trigger.
Time of impact
Figure BDA0002858885740000081
Wherein v is1Is the front speed, v2Is the speed of the vehicle. If the judgment is true, the vehicle jumps downwards, and the next condition judgment is carried out; if the judgment condition is not satisfied, returning to the previous step, acquiring the perception information again, and updating the relative distance value S between the vehicle and the front vehicle in the next period.
Wherein the threshold value S is judgedthIs directly related to the speed of the vehicle itself and the vehicle type and to the speed of the vehicle ahead. Taking a small 4-seat 3-box car as an example, when the vehicle running speed is 20km/h, the set minimum obstacle avoidance distance is between 10 and 15 m. Threshold value SthAnd actual calibration confirmation is required according to different vehicle types. TTCthThe minimum collision time triggering threshold value is calibrated, the value is generally set to be between 0.8s and 1.2s, specific numerical values are also calibrated according to different vehicle types loaded by the vehicle types, and generally the value is directly related to the braking device selected by the vehicle and the response time of a vehicle system. TTC, e.g. for large vehiclesthWill be larger than the small vehicle.
3) Detecting the braking and obstacle avoiding intention of a driver, if the fact that the depth of the brake pedal which is stepped on by the driver is larger than a set triggering threshold or the stepping speed of the brake pedal is higher than a set threshold is detected, and the driver attention monitoring device judges that the attention area of the driver is in the front of continuous attention, judging that the driver has the braking intention, and triggering the braking and obstacle avoiding function;
triggering a braking obstacle avoidance function, and braking within the maximum braking force range allowed by the vehicle so as to reduce the vehicle speed and further reduce the severity of the possible collision accident;
otherwise, judging that the driver does not have the braking obstacle avoidance intention, and turning to the step 4) to judge the steering intention;
the driver attention monitoring device is used for judging a driver attention area according to the position of eyeballs of the detected driver;
the threshold values for determining the speed and depth of the brake pedal are selected according to different actuating mechanisms of the vehicle, so that the threshold values need to be calibrated again according to different vehicles. The driver attention monitoring device outputs the position coordinates of the focus of the driver's eyeball attention at the moment. Therefore, it can be determined whether the driver's attention is focused on the front region (generally, a region 30 ° to the right and left of the normal line right in front of the vehicle is defined as the front) by modifying the configuration of the parameters of the driver attention monitoring device installation position and the relative driver position. The specific position of the rear view mirror can thus also be redefined in the driver attention monitoring system. Wherein the rearview mirrors comprise an interior rearview mirror and an exterior rearview mirror. Meanwhile, the system can be compatible with possible subsequent development of the vehicle, for example, when the vehicle is loaded by adopting the virtual rearview mirror instead of the external rearview mirror, the configuration parameters of the driver attention monitoring system are properly revised, and the monitoring area is reset according to the opening condition of the virtual rearview mirror and the display position of the virtual rearview mirror.
4) Detecting the steering obstacle avoidance intention of a driver, if the steering torque of a steering wheel is larger than a set threshold value or the change rate of the steering wheel corner exceeds a set threshold value and the attention monitoring device of the driver catches that the driver pays attention to a rearview mirror system, judging that the driver has the steering obstacle avoidance intention, and triggering a steering obstacle avoidance function;
the steering force and the steering wheel angle for calculating the steering moment and the steering wheel angle change rate of the steering wheel are acquired by a steering wheel sensor;
when any condition of the two conditions is not met, the step 5) is carried out;
5) if S>SmTriggering a steering obstacle avoidance function, and continuously driving an auxiliary steering device of the vehicle to assist a driver to avoid an obstacle in a relatively safe area of the vehicle; otherwise, triggering a braking obstacle avoidance function;
Smthe minimum steering obstacle avoidance distance is the minimum distance required for avoiding the front obstacle by steering on the premise of ensuring the driving safety;
the method comprises the following steps of triggering a steering obstacle avoidance function, and continuously driving an auxiliary steering device of the vehicle to assist a driver in avoiding obstacles in a relatively safe area of the vehicle, wherein the method comprises the following specific steps:
and (2) planning a safe steering track according to the relative distance S, angle and speed information of the vehicle and the front vehicle collected in real time in the step 1), continuously controlling the steering force of the vehicle, and adapting to the real-time longitudinal speed so as to follow a planned safe steering avoidance path to avoid obstacles.
And (3) after the braking obstacle avoidance function is triggered or the steering obstacle avoidance function is triggered to be executed, returning to the step 1) to sense the obstacle information again, and detecting whether the collision risk is relieved.
According to the above method, the present application further provides a vehicle obstacle avoidance system with cooperative steering and braking, including:
a vehicle sensing unit for sensing whether the vehicle is in a forward gear or not and whether the vehicle speed is higher than a set threshold speed V or notminSensing obstacles outside the vehicle by sensorsInformation, namely acquiring the relative distance S, the angle and the speed of the vehicle between the front vehicles in real time;
the collision risk judging unit is used for judging whether the vehicle and the vehicle in front exist in collision risk or not according to the information acquired by the vehicle sensing unit;
the collision risk judging unit judges whether the vehicle and the vehicle in front are at the collision risk in the following modes:
when S is<SthOr TTC<TTCthJudging that the vehicle has collision risk; wherein S isthDetermining a threshold value, TTC, for a collision distancethTriggering a threshold for a minimum time to collision;
collision distance judgment threshold SthThe minimum collision time triggers the threshold TTC which is determined according to the speed of the vehicle, the type of the vehicle and the speed of the front vehiclethCalibrating the braking device selected by the vehicle and the response time of the vehicle system together according to the type of the vehicle;
the driver sensing unit is used for detecting the driving control information of the driver when the collision risk judging unit judges that the collision risk exists; the driving control information includes: the depth and the tread speed of the action of treading the brake pedal, the attention area of the driver, the steering force and the steering wheel angle of the steering wheel of the driver;
the planning control unit is used for carrying out obstacle avoidance decision by integrating the perception fusion information output by the vehicle perception unit and the driver control information output by the driver perception unit; the obstacle avoidance decision comprises braking obstacle avoidance and steering obstacle avoidance;
the method comprises the following specific steps:
1) detecting the braking obstacle avoidance intention of a driver, if the fact that the depth of the brake pedal which is stepped on by the driver is larger than a set triggering threshold or the stepping speed of the brake pedal is higher than a set threshold is detected, and the attention area of the driver is the front of continuous attention area is detected, judging that the driver has the braking intention, and triggering the braking obstacle avoidance function;
2) detecting the steering obstacle avoidance intention of a driver, if the steering torque of a steering wheel is larger than a set threshold value or the change rate of the steering wheel corner exceeds a set threshold value and the attention monitoring device of the driver catches that the driver pays attention to a rearview mirror system, judging that the driver has the steering obstacle avoidance intention, and triggering a steering obstacle avoidance function;
3) if the driver is judged not to have the intention of steering and avoiding the obstacle, the S is carried out>SmTriggering a steering obstacle avoidance function; otherwise, triggering a braking obstacle avoidance function;
if S>SmTriggering a steering obstacle avoidance function; smThe minimum steering obstacle avoidance distance is the minimum distance required for safely steering and avoiding the obstacle for the vehicle, namely, the minimum distance required for avoiding the front obstacle by steering is achieved on the premise of ensuring driving safety.
And the vehicle execution unit is used for driving a relevant mechanism to control the vehicle to automatically brake or automatically steer according to the obstacle avoidance decision result.
In the vehicle execution unit, the drive related mechanism controls the vehicle to automatically brake within the maximum braking force range allowed by the vehicle so as to reduce the vehicle speed;
the auxiliary steering device for driving the relevant mechanism to control the vehicle to automatically steer to continuously drive the vehicle assists a driver to avoid an obstacle in a relatively safe area of the vehicle, and the driving relevant mechanism controls the vehicle to automatically steer specifically as follows: the method comprises the steps of planning a safe steering track according to relative distance S, angle and speed information of a vehicle and a front vehicle collected in real time in a vehicle sensing unit, then continuously controlling the steering force of the vehicle according to different adopted driving steering modes (available steering avoiding driving modes comprise driving a steering device connected with a steering wheel to avoid obstacles or adopting unilateral wheel braking to form differential steering of left and right wheels), and adapting to real-time longitudinal speed so as to avoid obstacles along a planned safe steering avoiding path.
After the driving of the avoidance steering assist is activated, besides controlling the steering system, a steering lamp in the corresponding avoidance direction needs to be controlled to be turned on so as to prompt other road users to pay attention to the action of the vehicle.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims (10)

1. A vehicle obstacle avoidance method with cooperative steering and braking is characterized by comprising the following steps:
1) when the vehicle speed is greater than the set threshold speed VminSensing information of an external obstacle of the vehicle through a sensor, and acquiring the relative distance S, the angle and the speed of the vehicle between the front vehicles in real time;
2) judging whether the vehicle and the vehicle in front have collision risks or not according to the acquired information; if yes, turning to step 3);
3) detecting the braking and obstacle avoiding intention of a driver, if the fact that the depth of the brake pedal which is stepped on by the driver is larger than a set triggering threshold or the stepping speed of the brake pedal is higher than a set threshold is detected, and the driver attention monitoring device judges that the attention area of the driver is the front area of continuous attention, judging that the driver has the braking intention, triggering the braking and obstacle avoiding function, and turning to step 6);
otherwise, judging that the driver does not have the braking obstacle avoidance intention, and turning to the step 4) to judge the steering intention;
the driver attention monitoring device is used for judging a driver attention area according to the position of eyeballs of the detected driver;
4) detecting the steering obstacle avoidance intention of a driver, if the steering torque of a steering wheel is larger than a set threshold value or the change rate of the steering wheel corner exceeds a set threshold value and the attention monitoring device of the driver catches that the driver pays attention to a rearview mirror system, judging that the driver has the steering obstacle avoidance intention, triggering a steering obstacle avoidance function, and turning to the step 6); if the driver is judged to have no intention of steering and avoiding obstacles, the step 5 is carried out;
5) if S>SmTriggering a steering obstacle avoidance function, otherwise triggering a braking obstacle avoidance function;
Smthe minimum steering obstacle avoidance distance is the minimum distance required for avoiding the front obstacle by steering on the premise of ensuring the driving safety;
6) if the braking obstacle avoidance function is triggered, braking is carried out within the maximum braking force range allowed by the vehicle so as to reduce the vehicle speed and further reduce the severity of the possible collision accidents;
if the steering obstacle avoidance function is triggered, the auxiliary steering device for continuously driving the vehicle assists a driver to avoid an obstacle in a relatively safe area of the vehicle.
2. The obstacle avoidance method of a vehicle with cooperative steering and braking according to claim 1, wherein the step 2) of determining whether the vehicle and the vehicle in front of the vehicle have collision risk adopts the following method:
when S is<SthOr TTC<TTCthJudging that the vehicle has collision risk; wherein S isthDetermining a threshold value, TTC, for a collision distancethThe threshold is triggered for a minimum time to collision.
3. The cooperative steering and braking vehicle obstacle avoidance method according to claim 2, wherein the collision distance determination threshold S isthThe minimum collision time triggers the threshold TTC which is determined according to the speed of the vehicle, the type of the vehicle and the speed of the front vehiclethAnd calibrating the brake device selected by the vehicle and the response time of the vehicle system together according to the type of the vehicle.
4. The obstacle avoidance method for a vehicle with cooperative steering and braking according to claim 1, wherein in the step 6), a steering obstacle avoidance function is triggered, and an auxiliary steering device for continuously driving the vehicle assists a driver in avoiding an obstacle in a relatively safe area of the vehicle, and specifically, the following steps are carried out:
and (2) planning a safe steering track according to the relative distance S, angle and speed information of the vehicle and the front vehicle collected in real time in the step 1), continuously controlling the steering force of the vehicle, and adapting to the real-time longitudinal speed so as to follow a planned safe steering avoidance path to avoid obstacles.
5. A cooperative steering and braking vehicle obstacle avoidance system, comprising:
a vehicle sensing unit for sensing when the vehicle speed is greater than a set threshold speed VminSensing information of an external obstacle of the vehicle through a sensor, and acquiring the relative distance S, the angle and the speed of the vehicle between the front vehicles in real time;
the collision risk judging unit is used for judging whether the vehicle and the vehicle in front exist in collision risk or not according to the information acquired by the vehicle sensing unit;
the driver sensing unit is used for detecting the driving control information of the driver when the collision risk judging unit judges that the collision risk exists;
the planning control unit is used for carrying out obstacle avoidance decision by integrating the perception fusion information output by the vehicle perception unit and the driver control information output by the driver perception unit; the obstacle avoidance decision comprises braking obstacle avoidance and steering obstacle avoidance;
and the vehicle execution unit is used for driving a relevant mechanism to control the vehicle to automatically brake or automatically steer according to the obstacle avoidance decision result.
6. The cooperative steering and braking vehicle obstacle avoidance system according to claim 5, wherein in the driver perception unit, the driving control information includes: the depth and the depressing speed of the action of depressing the brake pedal, the attention area of the driver, and the magnitude and the steering angle of the steering wheel of the driver.
7. The cooperative steering and braking vehicle obstacle avoidance system according to claim 5, wherein the collision risk determination unit determines whether a vehicle and a vehicle directly in front of the vehicle are at a collision risk by:
when S is<SthOr TTC<TTCthJudging that the vehicle has collision risk; wherein S isthDetermining a threshold value, TTC, for a collision distancethThe threshold is triggered for a minimum time to collision.
8. The cooperative steering and braking vehicle obstacle avoidance system of claim 5, wherein the collision distance determinationThreshold value SthThe minimum collision time triggers the threshold TTC which is determined according to the speed of the vehicle, the type of the vehicle and the speed of the front vehiclethAnd calibrating the brake device selected by the vehicle and the response time of the vehicle system together according to the type of the vehicle.
9. The cooperative steering and braking vehicle obstacle avoidance system of claim 6, wherein the planning control unit performs obstacle avoidance decisions as follows:
1) detecting the braking obstacle avoidance intention of a driver, if the fact that the depth of the brake pedal which is stepped on by the driver is larger than a set triggering threshold or the stepping speed of the brake pedal is higher than a set threshold is detected, and the attention area of the driver is the front of continuous attention area is detected, judging that the driver has the braking intention, and triggering the braking obstacle avoidance function;
2) detecting the steering obstacle avoidance intention of a driver, if the steering torque of a steering wheel is larger than a set threshold value or the change rate of the steering wheel corner exceeds a set threshold value and the attention monitoring device of the driver catches that the driver pays attention to a rearview mirror system, judging that the driver has the steering obstacle avoidance intention, and triggering a steering obstacle avoidance function;
3) if the driver is judged not to have the intention of steering and avoiding the obstacle, the S is carried out>SmTriggering a steering obstacle avoidance function; otherwise, triggering a braking obstacle avoidance function;
Smthe minimum steering obstacle avoidance distance is the minimum distance required for safely steering and avoiding the obstacle for the vehicle, namely, the minimum distance required for avoiding the front obstacle by steering is achieved on the premise of ensuring driving safety.
10. The cooperative steering and braking vehicle obstacle avoidance system according to claim 5, wherein in the vehicle execution unit, the drive related mechanism controls the vehicle to automatically brake within a maximum braking force range allowed by the vehicle so as to reduce the vehicle speed;
the auxiliary steering device for driving the relevant mechanism to control the vehicle to automatically steer into the continuously driven vehicle assists a driver in avoiding obstacles in a relatively safe area of the vehicle, and comprises the following specific steps: and planning a safe steering track according to the information of the relative distance S, the angle and the speed of the vehicle and the front vehicle which are collected in real time in the vehicle sensing unit, continuously controlling the steering force of the vehicle, and adapting to the real-time longitudinal speed so as to follow a planned safe steering avoiding path to avoid the obstacle.
CN202011556368.8A 2020-12-25 2020-12-25 Vehicle obstacle avoidance system and method with cooperative steering and braking Pending CN112606837A (en)

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