CN112977392A

CN112977392A - Transverse active collision avoidance system for vehicle and control method thereof

Info

Publication number: CN112977392A
Application number: CN202110287851.9A
Authority: CN
Inventors: 王科锋; 夏建桥; 袁朝春; 李海洋; 欧阳康; 熊齐智; 叶蓬雨
Original assignee: Zhenjiang Kangfei Automobile Manufacturing Co ltd
Current assignee: Zhenjiang Kangfei Automobile Manufacturing Co ltd
Priority date: 2021-03-17
Filing date: 2021-03-17
Publication date: 2021-06-18

Abstract

The invention provides a transverse active collision avoidance system for a vehicle and a control method thereof, wherein the transverse active collision avoidance system comprises a signal acquisition unit, a signal processing unit and a controller; the signal acquisition unit is used for acquiring road information and self-vehicle information in real time and transmitting the acquired signals to the signal processing unit in real time; the signal processing unit is used for processing the road information and the vehicle information obtained by the signal acquisition unit, converting the acquired information into electric signals and transmitting the electric signals to the controller in real time; the invention can actively avoid collision of vehicles in the driving process, effectively reduce the harm caused by rear-end collision of the rear vehicle, the harm caused by transverse collision of the vehicles to drivers and other vehicles, the harm caused to barrier vehicles and pedestrians, effectively reduce the economic property loss, and provide safer and more comfortable driving environment for the drivers, thereby improving the driving safety.

Description

Transverse active collision avoidance system for vehicle and control method thereof

Technical Field

The invention discloses a transverse active collision avoidance system for a vehicle and a control method thereof, and belongs to the technical field of driving safety.

Background

With the rapid increase of automobile holding amount, the road traffic safety problem has become an important issue of government and social concerns of various countries. The data show that 70% to 90% of traffic accidents are due to driver operational errors, while the vehicle failure accounts for only about 3%. Although the degree of injury from accidents is reduced by more and more passive safety technologies (such as airbags, safety belts, pedestrian protection and energy-absorbing car bodies, etc.), the root causes of traffic accidents are not solved. If the driver can be reminded before an accident happens and the driver can be helped to take safety measures in an emergency, the system is undoubtedly very useful for reducing the occurrence of traffic accidents, and the active collision avoidance system of the automobile is just a technical means for realizing the function.

Research shows that with the aid of an active collision avoidance system, the reduction rate of rear-end collision can reach 2%, and the labor intensity of a driver can be greatly reduced when no accident occurs.

At present, the automobile anti-collision system can adopt various technical means, such as ultrasonic, infrared, laser, video, radar and other technologies. The active collision is avoided mainly by controlling a hydraulic braking system and an electric power steering system.

However, the existing anti-collision system mainly controls the hydraulic braking system to avoid active collision, and can not avoid collision in case of braking in special situations, so that the damage of frontal collision can only be reduced, and the collision and rear-end collision on the side can not be avoided actively, so that the driving safety of a driver can not be guaranteed better.

Disclosure of Invention

In view of the defects in the prior art, the present invention aims to provide a lateral active collision avoidance system for a vehicle and a control method thereof, so as to solve the problem that the prior art proposed in the background art cannot actively avoid side collision and rear-end collision.

In order to achieve the purpose, the invention is realized by the following technical scheme: a transverse active collision avoidance system for a vehicle comprises a signal acquisition unit, a signal processing unit and a controller;

the signal acquisition unit is used for acquiring road information and self-vehicle information in real time and transmitting the acquired signals to the signal processing unit in real time;

the signal processing unit is used for processing the road information and the vehicle information obtained by the signal acquisition unit, converting the acquired information into electric signals, obtaining the relative distance, speed, azimuth angle and driving direction information of the front object, the left object, the right object and the rear object and the speed, acceleration and yaw velocity information of the vehicle, and transmitting the information to the controller in real time;

and the controller is used for further processing the data obtained by the signal processing unit, analyzing whether the distance between the vehicle and the obstacle vehicle is within a safety range or not, and realizing transverse active collision avoidance through an internal automatic controller unit.

Furthermore, the signal acquisition unit comprises a plurality of vehicle-mounted radar subunits, image acquisition subunits and a vehicle sensor, wherein the vehicle-mounted radar subunits are 6 vehicle-mounted radar sensors and are respectively arranged at the front end, the left side, the right side and the rear end of the vehicle; each vehicle-mounted radar sensor is used for acquiring road information in real time; the vehicle-mounted radar sensors and the vehicle-mounted sensors are used for acquiring vehicle information in real time, and the vehicle-mounted radar sensors and the vehicle-mounted sensors acquire road information and vehicle information in real time and transmit the road information and the vehicle information to the signal processing unit through the signal acquisition subunit.

The controller is used for further processing the data obtained by the signal processing unit, analyzing whether the distance between the vehicle and the obstacle vehicle is within a safety range or not, and realizing transverse active collision avoidance through an internal automatic controller unit.

Further, the automatic controller unit comprises a brake control subunit, a steering control subunit and a throttle control subunit, which are respectively used for controlling the deceleration, the steering and the acceleration of the vehicle.

A control method for a lateral active collision avoidance system for a vehicle, comprising the steps of:

step (A), opening a switch of an active collision avoidance system, and initializing the system;

step (B), after initialization, real-time data acquisition is carried out through a signal acquisition unit, and after data acquisition is finished, the data are transmitted to a signal processing unit in real time for processing to respectively obtain road information and self-vehicle information;

step (C), the running direction of the vehicle is vertical to the running direction of the obstacle vehicle;

(C1) the information acquisition unit acquires information of the distance between the vehicle and the obstacle vehicle, the azimuth angle, the speed of the obstacle vehicle and the speed of the vehicle, which are perpendicular to the driving direction of the vehicle and the obstacle vehicle, and transmits the information to the information processing unit in real time to obtain the distance between the vehicle and the obstacle vehicle and the intersection point and the time required by the vehicle and the obstacle vehicle when the vehicle and the obstacle vehicle are intersected, and the signal processing unit processes the information into an electric signal and transmits the electric signal to the controller in real time;

(C2) after receiving the information, the controller judges the safety, if the judgment is yes, data acquisition is continued, if the judgment is no, an alarm is given, if a driver performs correct operation after the alarm, the controller continues to acquire the data, and if the driver does not perform the operation, the controller enters an automatic control unit;

(C3) firstly, the automatic control system judges whether only braking is needed or not according to the situation, if so, braking is carried out, if not, only steering is needed or not, if yes, steering is carried out, if not, whether braking is needed first and then steering is continuously judged, if yes, braking is carried out first and then steering is carried out, and if not, accelerating passing is judged to be needed.

Step (D), the vehicle and the obstacle vehicle run at the same direction and high speed, and the obstacle vehicle carries out overtaking working condition towards the front of the vehicle;

(D1) at the moment, the information acquisition unit acquires that the obstacle vehicle has a steering trend and the trend is further aggravated, acquires that the speed of the vehicle is relatively too high and obstacles exist on the left and right, and the signal acquisition unit transmits the acquired information to the signal processing unit in real time;

(D2) the signal processing unit processes the received information into an electric signal and transmits the electric signal to the controller, the controller performs safety judgment and gives an alarm to indicate that a driver interferes, firstly whistling is performed, and if the obstacle vehicle does not respond and continues to keep the original driving route, the self vehicle enters the automatic control unit to perform active collision avoidance;

(D3) the automatic control unit judges that the steering function can not be realized at the moment, the braking can only reduce the intensity of the impact, the calculation is carried out according to the performance of the self-vehicle, the acceleration can exceed the obstacle vehicle, and the automatic control unit controls the opening of the throttle valve to accelerate, so that the safe collision avoidance is realized.

Step (E), the obstacle vehicle runs at a high speed in the same direction behind the vehicle;

(E1) at the moment, the information acquisition unit acquires that the barrier vehicle is accelerated and does not have the tendency of deceleration, and acquires that the speed of the vehicle is relatively over high and barriers exist on the left and right, and the signal acquisition unit transmits the acquired information to the signal processing unit in real time;

(E2) the signal processing unit processes the received information into an electric signal and transmits the electric signal to the controller, the controller judges the safety and gives an alarm, if a driver carries out correct operation, the data is continuously collected, and if the driver does not carry out operation, the self-vehicle enters the automatic control unit to carry out active collision avoidance;

(E3) and the automatic control unit judges that the braking and steering functions cannot be realized at the moment, and controls the opening of the throttle valve to accelerate so as to avoid the rear-end collision of the obstacle vehicle.

Further, in the step (B), the described data acquisition is obtained through a vehicle-mounted radar subunit, an image acquisition subunit and a vehicle speed sensor, and the obtained data includes;

(B1) and road information: the distance and the relative speed between the self vehicle and the obstacle vehicle as well as the driving direction and the azimuth angle of the obstacle vehicle;

(B2) and the self-vehicle information: the speed, acceleration, steering wheel angle, engine speed, throttle opening, and yaw rate of the host vehicle.

The invention has the beneficial effects that:

1. the invention can actively avoid collision of the vehicle in the driving process;

2. the invention can effectively reduce the harm caused by rear-end collision of the rear vehicle;

3. the invention can effectively reduce the harm to a driver and the vehicle caused by the transverse collision of the vehicle and the harm to the barrier vehicle and the pedestrian, and can effectively reduce the loss of economic property, thereby providing a safer and more comfortable driving environment for the driver and improving the safety in driving.

Drawings

FIG. 1 is a basic schematic of the present invention;

FIG. 2 is a flow chart of the present invention

FIG. 3 is a schematic diagram of the position of a radar sensor of a vehicle-mounted radar subunit provided by the invention;

FIG. 4 is a diagrammatic illustration of the display of an image acquired by the acquisition unit of the present invention;

FIG. 5 is a schematic diagram of an example of active collision avoidance at an intersection of the present invention;

FIG. 6 is a schematic diagram of an example active collision avoidance system of the present invention in an expressway obstacle vehicle overtaking situation;

fig. 7 is a schematic diagram of an example of active collision avoidance in the event of a rear-end collision of a highway obstacle vehicle according to the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

Referring to fig. 1-2, the present invention provides a technical solution: a transverse active collision avoidance system for a vehicle comprises a signal acquisition unit, a signal processing unit and a controller;

Further, the automatic controller unit comprises a braking control subunit, a steering control subunit and a throttle control subunit which are respectively used for controlling the deceleration, the steering and the acceleration of the vehicle.

As shown in fig. 3, the on-vehicle radar subunit radar sensors are located at the front end 1, left side 2, left side 3, right side 4, right side 5, and rear end 6 of the vehicle body, respectively. The system is used for acquiring the driving information of the front side object, the left side object, the right side object and the rear vehicle respectively and transmitting the acquired information to the information processing unit. Speed, displacement and angle and direction of travel,

as shown in fig. 4, a schematic diagram of an image display acquired by the image acquisition unit of the transverse active collision avoidance system of the present invention is shown, in which 7 is a self-vehicle, and 8, 9, 10, and 11 are obstacle vehicles, pedestrians or non-motor vehicles. The road condition is shown as an intersection without signal lamps, 7 is a self-vehicle, 8, 9 and 11 are vehicles on the same straight line, 10 is a pedestrian or a non-motor vehicle perpendicular to the driving direction of the self-vehicle, and the self-vehicle detects all vehicles at the front end, the left side, the right side and the rear end of the vehicle body during driving, and in the example, the left side and the right side of the vehicle are mainly explained.

When the traveling direction of the host vehicle is perpendicular to the traveling direction of the obstacle vehicle, as in fig. 4, 7 and 10 in fig. 5, the on-vehicle radar sub-unit and the image capturing unit capture information such as the distance S between the host vehicle and the obstacle vehicle 10, the azimuth angle α, the speed of the obstacle vehicle, and the speed of the host vehicle. The time required for the intersection of the host vehicle and the obstacle vehicle is obtained through information processing at S1 and S2. The controller judges the driving safety of the automobile, continues to detect if the driving safety is safe, sends an alarm signal if the driving safety is not safe, and enters an active collision avoidance mode if a driver does not interfere with the driving safety, brakes, turns to and turns to the automobile after braking according to specific conditions, and accelerates to pass if necessary.

As shown in fig. 6, the driving condition is a high-speed driving condition, in which 12 is a self vehicle, and 13, 14, and 15 are obstacle vehicles, respectively. 14, 15 are traveling normally and vehicle 13 is ready to overtake. At the moment, the information acquisition system acquires that 13 vehicles have the steering trend and the trend is further aggravated, the controller gives an alarm to indicate that a driver interferes, and the controller firstly gives a whistle, and if the obstacle vehicle does not react and continues to keep the original driving route, the own vehicle actively avoids collision. Because the speed of the self-vehicle is relatively too high, the left and right sides of the self-vehicle are provided with obstacle vehicles, the steering function can not be realized at the moment, the braking can only reduce the intensity of the impact, the acceleration can exceed the obstacle vehicle 13 by calculating according to the performance of the self-vehicle, and then the controller controls the opening of the throttle valve to accelerate, thereby realizing safe collision avoidance.

As shown in fig. 7, the high-speed driving condition is similar to that of fig. 6, where 12 is the own vehicle, 13, 14, 15, and 16 are respectively obstacle vehicles, 13, 14, and 15 are normally driven, and the radar behind the own vehicle detects that 16 vehicles are accelerating without a deceleration tendency, and then the control system of the own vehicle actively accelerates, so as to avoid personnel injury and economic property loss caused by rear-end collision of the following vehicles.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A lateral active collision avoidance system for a vehicle, characterized by: comprises a signal acquisition unit, a signal processing unit and a controller;

2. A lateral active collision avoidance system for a vehicle according to claim 1, characterized in that: the signal acquisition unit comprises a plurality of vehicle-mounted radar subunits, image acquisition subunits and a vehicle sensor, wherein the vehicle-mounted radar subunits are 6 vehicle-mounted radar sensors and are respectively arranged at the front end, the left side, the right side and the rear end of a vehicle; each vehicle-mounted radar sensor is used for acquiring road information in real time; the vehicle-mounted radar sensors and the vehicle-mounted sensors are used for acquiring vehicle information in real time, and the vehicle-mounted radar sensors and the vehicle-mounted sensors acquire road information and vehicle information in real time and transmit the road information and the vehicle information to the signal processing unit through the signal acquisition subunit.

3. A lateral active collision avoidance system for a vehicle according to claim 1, characterized in that: the controller is used for further processing the data obtained by the signal processing unit, analyzing whether the distance between the vehicle and the obstacle vehicle is within a safety range or not, and realizing transverse active collision avoidance through an internal automatic controller unit.

4. A lateral active collision avoidance system for a vehicle according to claim 1, characterized in that: the automatic controller unit comprises a brake control subunit, a steering control subunit and a throttle control subunit, and is respectively used for controlling the deceleration, the steering and the acceleration of the vehicle.

5. The control method for the lateral active collision avoidance system for the vehicle according to any one of claims 1 to 4, characterized in that: comprises the following steps;

(C3) firstly, the automatic control system judges whether only braking is needed or not according to the situation, if so, braking is carried out, if not, only steering is needed or not, if yes, steering is carried out, if not, whether braking is needed first and then steering is continuously judged, if yes, braking is carried out first and then steering is carried out, and if not, accelerating passing is judged to be needed;

(D3) the automatic control unit judges that the steering function can not be realized at the moment, the braking can only reduce the intensity of the impact, the calculation is carried out according to the performance of the self-vehicle, the acceleration can exceed the obstacle vehicle, and the automatic control unit controls the opening of the throttle valve to accelerate, so that the safe collision avoidance is realized;

6. The control method of a lateral active collision avoidance system for a vehicle according to claim 5, characterized in that: step (B), the described data acquisition is obtained by vehicle-mounted radar subunit, image acquisition subunit and vehicle speed sensor, and the obtained data includes,