CN113415279A - Vehicle reversing assisting method and system and vehicle - Google Patents

Vehicle reversing assisting method and system and vehicle Download PDF

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Publication number
CN113415279A
CN113415279A CN202110704259.4A CN202110704259A CN113415279A CN 113415279 A CN113415279 A CN 113415279A CN 202110704259 A CN202110704259 A CN 202110704259A CN 113415279 A CN113415279 A CN 113415279A
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China
Prior art keywords
vehicle
radar
width
wheel
state
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CN202110704259.4A
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Chinese (zh)
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CN113415279B (en
Inventor
赵征澜
张丽
徐飞
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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Priority to CN202110704259.4A priority Critical patent/CN113415279B/en
Publication of CN113415279A publication Critical patent/CN113415279A/en
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18036—Reversing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/35—Road bumpiness, e.g. pavement or potholes

Abstract

The invention discloses a vehicle reversing auxiliary method, a vehicle reversing auxiliary system and a vehicle, wherein the method is applied to a reversing auxiliary control unit in the vehicle reversing auxiliary system, the system also comprises a hollow detector arranged behind wheels, and the method comprises the following steps: acquiring depression data collected by a depression detector; determining, based on the hole data, whether a hole state of a road surface behind the wheel and a hole width in a vehicle width direction are larger than a wheel width; and determining whether the vehicle backs up or not based on the hollow state and whether the hollow width is larger than the width of the wheels, and if so, initiating an alarm to a driver. The vehicle reversing auxiliary method can accurately detect the hollow condition of the road surface behind the vehicle in the vehicle reversing process, and when the hollow condition is detected to damage the vehicle or a driver, the hollow condition is reminded to assist the driver to perform reversing operation, so that the safety in the reversing process is greatly improved.

Description

Vehicle reversing assisting method and system and vehicle
Technical Field
The invention relates to the technical field of safe driving, in particular to a vehicle reversing auxiliary method, a vehicle reversing auxiliary system and a vehicle.
Background
Vehicle intelligence is one of the development trends in the automobile industry, and more intelligent technologies are applied to automobiles, including a car backing assisting technology. The comparatively mature auxiliary technique of backing a car of application on the vehicle includes at present: "reverse image technology", "reverse radar" and "reverse image + reverse radar".
The existing reversing auxiliary technology is mainly used for detecting the distribution condition of obstacles above the ground in a specific range behind a vehicle, and then feeding back a detection result to a driver to assist the driver in reversing. If there is great, darker pit on the ground, the state in current vehicle auxiliary technology of backing a car can't detect the pit causes driver's maloperation easily, stops the vehicle in the pit, causes the vehicle impaired or brings the injury to the driver. Therefore, how to accurately detect the pothole condition on the ground behind the vehicle in the process of backing the vehicle to assist the driver to carry out backing operation and ensure the safety in the process of backing the vehicle is a problem to be solved urgently in the prior art.
Disclosure of Invention
The embodiment of the application provides a vehicle reversing auxiliary method, a vehicle reversing auxiliary system and a vehicle, which can accurately detect the hollow condition of a road surface behind the vehicle in the vehicle reversing process, and can remind a driver to perform reversing operation by assisting the driver when the hollow condition is detected to damage the vehicle or the driver, so that the safety of the reversing process is greatly improved.
In a first aspect, the present invention provides the following technical solutions through an embodiment of the present invention:
a vehicle reversing auxiliary method is applied to a reversing auxiliary control unit in a vehicle reversing auxiliary system, the system further comprises a hollow detector arranged behind wheels, and the method comprises the following steps:
acquiring depression data collected by the depression detector; determining, based on the hole data, whether a hole state of a road surface behind the wheel and a hole width in a vehicle width direction are larger than a wheel width; and determining whether the vehicle backs up or not based on the hollow state and whether the hollow width is larger than the width of the wheels, and if so, initiating an alarm to a driver.
Preferably, the hollow detector comprises: a first radar, a second radar, the first radar and the second radar being disposed along the vehicle width direction behind the same rear wheel of the vehicle, the pothole data including pothole depths detected by the first radar and the second radar, determining, based on the pothole data, whether a pothole state of a road surface behind the wheel and a pothole width in the vehicle width direction are greater than a wheel width, including: if the hole depth detected by at least one of the first radar and the second radar is larger than a first preset value and smaller than a second preset value, determining that the hole state of the road surface behind the rear wheel is a bad state; if the depression depths detected by the first radar and the second radar are both greater than the first preset value, determining that the depression width behind the wheel is greater than the wheel width; and if the depression depths detected by the first radar and the second radar are both larger than or equal to the second preset value, judging that the depression state of the road surface behind the rear wheel is a bad state.
Preferably, a distance between the first radar and the second radar is less than or equal to the wheel width, and a difference between the distance and the wheel width is within a preset range, the preset range being determined based on a condition that a wheel passes through a rear pothole.
Preferably, the determining whether there is a risk of reversing the vehicle based on the hole state and whether the hole width is greater than a wheel width comprises: if the hollow state of the road surface behind the rear wheels is in a bad state and the hollow width behind the wheels is larger than the width of the wheels, detecting whether the reversing speed of the vehicle is smaller than a preset speed, if so, judging that the vehicle does not have a risk when reversing, and if not, judging that the vehicle does not have a risk when reversing; and if the pothole state of the road surface behind the rear wheels is a bad state, judging that the vehicle is in a risk of backing.
Preferably, the determining that the depressed state of the road surface behind the rear wheel is a bad state includes: and detecting the duration time that the hole depth is greater than a first preset value and less than a second preset value, and if the duration time exceeds a preset time length, judging that the hole state of the road surface behind the rear wheel is in a bad state.
In a second aspect, the present invention provides the following technical solutions through an embodiment of the present invention:
a vehicle backup assist system comprising: supplementary the control unit and set up in the pothole detector at wheel rear backs of backing a car, the supplementary the control unit of backing a car with pothole detector connects, wherein: the hollow detector is used for collecting hollow data behind the wheels; the reverse assist control unit is used for determining whether the pothole state of the road surface behind the wheels and the pothole width in the width direction of the vehicle are larger than the wheel width or not based on the pothole data; and determining whether the vehicle backs up or not based on the hollow state and whether the hollow width is larger than the width of the wheels, and if so, initiating an alarm to a driver.
Preferably, the hollow detector comprises: first radar and second radar, first radar with the second radar is followed vehicle width direction lays in the same rear wheel rear of vehicle, hole data includes the hole degree of depth that first radar and the second radar detected, the auxiliary control unit that backs a car is used for: if the hole depth detected by at least one of the first radar and the second radar is larger than a first preset value and smaller than a second preset value, determining that the hole state of the road surface behind the rear wheel is a bad state; if the depression depths detected by the first radar and the second radar are both greater than the first preset value, determining that the depression width behind the wheel is greater than the wheel width; and if the depression depths detected by the first radar and the second radar are both larger than or equal to the second preset value, judging that the depression state of the road surface behind the rear wheel is a bad state.
Preferably, the distance between the detection zone of the hollow detector and the respective rear wheel is greater than or equal to the distance of the rear overhang of the vehicle.
Preferably, the hollow detectors are respectively provided behind two rear wheels of the vehicle.
In a third aspect, the present invention provides the following technical solutions through an embodiment of the present invention:
a vehicle, comprising: a vehicle reverse assist system as claimed in any one of the above second aspects.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the embodiment of the invention provides a vehicle reversing auxiliary method, a vehicle reversing auxiliary system and a vehicle, wherein the method is applied to a reversing auxiliary control unit in the vehicle reversing auxiliary system, the system also comprises a hollow detector arranged behind wheels, and the method comprises the following steps: acquiring pothole data behind the vehicle through a pothole detector; determining, based on the hole data, whether a hole state of a road surface behind the wheel and a hole width in a vehicle width direction are larger than a wheel width; whether the vehicle backs a car is determined based on the hollow state and whether the hollow width is larger than the width of the wheels, namely whether the hollow on the road surface behind the wheels brings danger to the car backing is determined, and if so, an alarm is sent to a driver to remind the driver to pay attention. This application has considered the hole width again when considering the hole state to can be at the vehicle in-process of backing a car, whether accurately detect the hole condition on vehicle rear ground can bring the harm to vehicle or driver at the vehicle in-process of backing a car, be favorable to more accurately assisting the driver and carry out the operation of backing a car, improve the security of the process of backing a car.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a block diagram of a vehicle backup assist system provided in an embodiment of the present invention;
FIG. 2 is a rear view of a radar arrangement provided by an embodiment of the present invention;
FIG. 3 is a side view of a radar arrangement provided by an embodiment of the present invention;
FIG. 4 is a block diagram of a vehicle backup assist system provided in accordance with an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle reversing assistance method according to an embodiment of the present invention;
fig. 6 is a flowchart of a vehicle reverse assist control according to an embodiment of the present invention.
Detailed Description
The embodiment of the application provides a vehicle reversing auxiliary method, a vehicle reversing auxiliary system and a vehicle, and can accurately detect the hollow state of the ground behind the vehicle in the vehicle reversing process, and remind a driver when the hollow state is detected to damage the vehicle or the driver, so as to assist the driver in reversing operation, and greatly improve the safety of the reversing process.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
a vehicle reversing auxiliary method, a system and a vehicle are provided, the method is applied to a reversing auxiliary control unit in the vehicle reversing auxiliary system, the system further comprises a hollow detector arranged behind wheels, and the method comprises the following steps: acquiring depression data collected by the depression detector; determining, based on the hole data, whether a hole state of a road surface behind the wheel and a hole width in a vehicle width direction are larger than a wheel width; and determining whether the vehicle backs up or not based on the hollow state and whether the hollow width is larger than the width of the wheels, and if so, initiating an alarm to a driver.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
In a first aspect, fig. 1 illustrates a vehicle reverse assistance system 100 provided by an embodiment of the present invention, which includes: the parking assist control device includes a reverse assist control unit 101 and a hollow detector 102 provided behind wheels, and the reverse assist control unit 101 is connected to the hollow detector 102.
The hole detector 102 is configured to collect hole data behind a wheel, the hole data including depth data of a hole behind the wheel. For example, the depression detector may be a radar, infrared detector, or other device capable of detecting depression depth.
The reverse assist control unit 101 is configured to determine, based on the pot data, whether a pot state of a road surface behind the wheel and a pot width in the vehicle width direction are larger than the wheel width; and determining whether the vehicle backs up or not based on the hollow state and whether the hollow width is larger than the width of the wheel, and if so, initiating an alarm to a driver. The specific implementation process is described in the following vehicle reversing assistance method, and is not described in detail here.
In a specific implementation, taking radar as an example, the hollow detector may comprise: the first radar and the second radar may be arranged behind the same rear wheel of the vehicle in the vehicle width direction, and the hole data may include hole depths detected by the first radar and the second radar.
As an alternative embodiment, the distance between the first radar and the second radar is less than or equal to the wheel width, and the difference between the distance and the wheel width is within a preset range, the preset range being determined based on the condition that the wheel passes through a rear pothole.
Specifically, in order to reflect whether or not the current hole width is larger than the width over which the wheel can pass smoothly, the detection results of the first and second radars need to be set such that the distance between the first and second radars is smaller than or equal to the wheel width, but the distance between the first and second radars cannot be too small, and the difference between the distance and the wheel width should be controlled within a preset range. For example, the predetermined range is: zero to one third of the wheel width.
In a particular embodiment, the two rear wheels of the vehicle are each provided with the above-mentioned hollow detector, as shown in fig. 2, in a rear view of the radar arrangement.
Specifically, a hollow detector is arranged behind the left rear wheel, a hollow detector is arranged behind the right rear wheel, and each hollow detector comprises a first radar and a second radar.
In addition, when a pothole is present behind, the distance between the detection zone of the pothole detector and the respective rear wheel may be greater than or equal to the distance of the rear overhang of the vehicle in order to allow the driver sufficient reaction time. It should be noted that rear overhang refers to a distance from the center of a rear wheel of a vehicle to the rear of the vehicle.
Specifically, as shown in fig. 3, assuming that the distance from the radar to the end face of the tire is a, a is a calibratable value, b is a radar scanning distance, the distance between the detection area of the radar and the corresponding rear wheel is a + b, and the rear overhang of the vehicle is c, when the radar is deployed, a + b ≧ c is required, and the radar deployment position is determined.
In addition, the position of the radar can also be set by taking the diameter of the rear wheel as a reference, if the diameter of the tire is d, the distance between the detection area of the radar and the corresponding rear wheel is a + b, and when the radar is arranged, the distance a + b is required to be larger than or equal to d, namely, the distance between the detection area of the radar and the corresponding rear wheel is larger than or equal to the diameter of the rear wheel, so that the arrangement position of the radar is determined.
Further, as shown in fig. 4, in order to obtain the speed information of the vehicle, the vehicle reverse assist system of the present application may further include a vehicle control unit 103, where the vehicle control unit 103 is connected to the reverse assist control unit 101, and the vehicle control unit is configured to detect the speed information of the vehicle and feed the speed information back to the reverse assist control unit.
Furthermore, in order to facilitate the driver to know the rear situation, the vehicle control unit 103 may be further connected to the instrument display unit 104, the auxiliary reverse control unit detects the pothole data on the rear road surface through the radar, judges the pothole data, feeds the judgment result back to the vehicle control unit, and the vehicle control unit feeds back the display information to the instrument for display according to the judgment result.
Further, in order to enable each control unit to work well and orderly, the vehicle reversing auxiliary system can further comprise a gear control unit 105, wherein the gear control unit 105 is connected with the reversing auxiliary control unit 101 and used for feeding a gear signal back to the reversing auxiliary control unit, so that the reversing auxiliary control unit starts to work when the gear signal is a reversing signal.
Further, the vehicle backing assisting control unit can further comprise an alarm unit 106, which is connected with the vehicle control unit 103 and used for feeding back the vehicle control unit to the alarm unit according to the judgment result when the vehicle backing assisting control unit judges that the vehicle has the risk, and sending an alarm to the driver. Or when the reversing auxiliary control unit judges that the vehicle has the risk, the whole vehicle control unit feeds back display information to the instrument for display according to the judgment result, and the instrument displays and simultaneously gives an alarm to the driver.
In a second aspect, an embodiment of the present invention provides a vehicle reverse assist method, which is applied to a reverse assist control unit in a vehicle reverse assist system, the system further including a hollow detector disposed behind wheels, and specifically, as shown in fig. 5, the method includes the following steps S101 to S103.
And S101, acquiring depression data acquired by the depression detector.
The vehicle backing auxiliary unit acquires the depression data acquired by the radar in real time.
Step S102, based on the hole data, determines whether the hole state of the road surface behind the wheel and the hole width in the vehicle width direction are larger than the wheel width.
In a specific implementation, determining, based on the hole data, whether a hole state of the road surface behind the wheel and a hole width in a vehicle width direction are greater than a wheel width may include:
if the hole depth detected by at least one of the first radar and the second radar is larger than a first preset value and smaller than a second preset value, determining that the hole state of the road surface behind the rear wheel is in a bad state; if the depression depths detected by the first radar and the second radar are both greater than a first preset value and at least one of the depression depths is smaller than a second preset value, determining that the depression state of the road surface behind the rear wheel is in a bad state, and determining that the depression width behind the wheel is greater than the wheel width; and if the hollow depths detected by the first radar and the second radar are both larger than or equal to a second preset value, judging that the hollow state of the road surface behind the rear wheel is a bad state, and judging that the hollow width behind the wheels is larger than the wheel width. The first preset value and the second preset value can be determined according to a test. In addition, if the detected hole depths of the first radar and the second radar are both smaller than the first preset value, it is determined that the hole state of the road surface behind the rear wheel is in a good state.
According to the above determination process, three kinds of hollow states can be obtained: good, bad, and whether the pothole width is greater than the wheel width can be further determined according to the pothole status. Specifically, when the depth of each of the craters detected by the first radar and the second radar is greater than a first preset value, that is, each of the first radar and the second radar detects a crater with a certain depth, it is indicated that the width of the crater is greater than the width of the wheel.
And S103, determining whether the vehicle backs up or not based on the hollow state and whether the hollow width is larger than the width of the wheels or not, and if so, giving an alarm to the driver.
In a specific embodiment, in order to more accurately know the hollow on the road surface behind, whether will constitute the risk to the vehicle based on a certain speed backing up, whether the vehicle is backing up and whether have the risk based on hollow state and hollow width is greater than the wheel width, can also include: if the hollow state of the road surface behind the rear wheel is in a bad state, and the hollow width behind the first wheel is larger than the wheel width, whether the reversing speed of the vehicle is smaller than a preset speed or not is detected, if yes, it is judged that the vehicle is not in a risk state, and if not, it is judged that the vehicle is in a risk state. The preset speed may be obtained through a test, but for safety, the actually set preset speed may be smaller than the test value.
In particular, since there may be a case where the vehicle speed is slow and the pothole at the rear of the vehicle is not so bad in the reverse, the pothole at the rear does not affect the vehicle at the vehicle speed, and the pothole may be ignored in this case. Therefore, after the hole state and the hole width are considered, it is necessary to refer to whether or not the vehicle speed of the current vehicle satisfies the condition that the warning is required.
Furthermore, after the depth and the width of the hollow are detected, the length of the hollow can be continuously detected, so that whether the rear hollow influences the reversing of the vehicle can be accurately detected. Therefore, determining that the pothole condition on the road surface behind the rear wheels is a bad condition may further include: and detecting the duration time that the hole depth is greater than the first preset value and less than the second preset value, and if the duration time exceeds a preset time length, judging that the hole state of the road surface behind the rear wheel is a bad state.
In particular, the longer the duration here, the greater the risk of the vehicle reversing, indicating the longer the length of the pothole. In actual use, the preset time period may be set to a value smaller than the diameter of the wheel divided by the average speed at which the vehicle is reversed.
Specifically, based on the above determination analysis on the pothole state on the rear road surface, the determination process of the pothole state in the vehicle reversing assistance method provided by the application may specifically be:
assuming that the vehicle is in a flat road surface, the distance between the radar and the ground is H0And detecting the distance H in real time in each detection period of the first radar in the process of backing the vehicle1The real-time detection distance of each detection period of the second radar is H2The vehicle speed is V, and is set to be Delta HL＝|H1-H0|、ΔHR＝|H2-H0L. If Δ HL＜ΔH1And Δ HR＜ΔH1Simultaneously (wherein Δ H)1As a calibration value, which can be corrected in a later test), the current pothole state is good by default, and no prompt is required for the driver.
If Δ H1＜ΔHL＜ΔH2Or Δ H1＜ΔHR＜ΔH2(wherein. DELTA.H2For calibration, which may be corrected during post-testing), and for a duration of time t (where t is the calibration, which may be corrected during post-testing), the current pothole condition is considered bad. If the vehicle speed at this time is V < V0(wherein V0A calibrated value, which can be corrected during later testing), no prompt is required for the driver. If the vehicle speed V > V at this time0And ((Δ H)1＜ΔHL＜ΔH2And Δ HR＜ΔH1) Or (Δ H)1＜ΔHR＜ΔH2And Δ HL＜ΔH1) And only one condition is true) then no prompt is required to the driver. If the vehicle speed V > V at this time0And (Δ H)1＜ΔHL＜ΔH2And Δ H1＜ΔHR＜ΔH2And simultaneously, the vehicle speed is controlled by the driver, voice or text prompt needs to be carried out on the driver, and the prompt content can be 'bad depression state on the road surface behind the vehicle, please slow down and walk', and the driver is reminded to control the vehicle speed.
If Δ HL＞ΔH2Or Δ HR＞ΔH2And has a duration of t1(where t is1The calibration value can be corrected in the later test process), the current pothole state is considered to be bad, and the driver is reminded to brake in time. If Δ HL＞ΔH3And Δ HR＞ΔH3Meanwhile, voice or text prompt needs to be carried out on the driver, and the prompt content can be 'bad depression state on the road surface behind the vehicle, please brake', and remind the driver of braking in time. If ((Δ H)L＞ΔH3And Δ H1＜ΔHR＜ΔH2) Or (Δ H)R＞ΔH3And Δ H1＜ΔHL＜ΔH2) And V > V0If the vehicle is in a low speed state, the driver needs to be prompted by voice or characters, and the prompting content can be 'the situation that a pit exists behind the vehicle and the vehicle is required to slow down', so that the driver is reminded to control the vehicle speed. If ((Δ H)L＞ΔH3And Δ H1＜ΔHR＜ΔH2) Or (Δ H)R＞ΔH3And Δ H1＜ΔHL＜ΔH2) And V < V)0Then no prompt is required to the driver.
In order to facilitate understanding of the control flow of the vehicle reversing assistance method provided by the present application, a part of the control flow of the vehicle reversing assistance method according to the present invention will be briefly described below.
As shown in fig. 6, firstly, the reverse auxiliary control unit of the vehicle will perform gear position determination, and when a reverse gear (R gear) is detected, the reverse auxiliary control unit and the radar start to operate, and the distance Δ H between the radar and the ground is continuously detected; when Δ H is smallWhen the threshold value is 1, the road surface hollow state is good, and the driver is not prompted; when Δ H is greater than threshold 1, but less than threshold 2, the detection of a duration T for which Δ H is in this range is started, when T is less than T0, indicating that the pothole length is not satisfactory for having an effect on the vehicle, indicating that the road pothole condition is poor, but without prompting the driver; when the duration time T is greater than T0, starting to detect the vehicle speed of the vehicle, and if the current vehicle speed V is less than V0If the current vehicle speed V is detected to be greater than V, the vehicle speed V is not required to be prompted to the driver0In time, the condition that the road surface is in a concave state is indicated, and a driver needs to be prompted; when Δ H is greater than the threshold value 2, it indicates that the road surface pothole state is bad, and the driver is prompted.
The working principle of a vehicle reversing assistance method according to the present invention will be described in detail below based on a specific example.
The method comprises the steps that firstly, a vehicle enters a reverse mode, the gear is reverse gear, when the reverse auxiliary control unit detects that the gear is reverse gear, a road surface depression state detection function is started, the left and right radar sets start to work, and the distance between the radar and the ground is continuously detected. Assuming a tire gauge of 185/65R15, the diameter is approximately 0.6 m. When the vehicle is in a flat road surface, the distance H between the radar and the ground00.5m, and when the vehicle is in reverse mode, it is assumed that the reverse vehicle speed is 10 km/h.
During the reversing of the vehicle, the first radar and the second radar continuously detect the distance between the radar and the ground, and the detection period is defined as once every 50 ms. When the depth of the pit is less than 10cm, the depression state of the road surface is defined to be good. When the depth of the pit is less than 25cm, the depression state on the road surface is poor. When the depth of the pit is more than 25cm, the depression state of the road surface is poor.
In the process of backing a car, recording all the height H between the first radar and the ground, which is detected by the second radar in real time in the continuous time t1And H2T is the wheel diameter/vehicle speed, the wheel diameter is 0.6m, the vehicle speed is 2.8m/s, t is 200ms, and all real-time H and H in 200ms are obtained0The average values of the differences are respectively recorded as Δ HLAnd Δ H.
When Δ HLAnd Δ HRMeanwhile, when the distance is less than 10cm, the road surface depression state is good, and the driver is not prompted. When 10cm < Delta HL< 25cm and Δ HR< 10cm or when 10cm < Δ HR< 25cm and Δ HLIf the width of the tire is larger than the width of the hollow, the vehicle is not significantly affected by the hollow, and the driver is not prompted. When 10cm < Delta HL< 25cm and 10cm < Δ HRIf the width of the tire is less than the width of the hollow, the hollow can have obvious influence on the vehicle. When the left and right radar groups simultaneously detect that the road surface pothole state is poor and the potholes can obviously influence the vehicle, or detect that the road surface pothole state on one side is poor and the potholes can obviously influence the vehicle, if the vehicle speed is more than 8km/h at the moment, the vehicle can prompt a driver to remind the driver that the road surface pothole state behind the vehicle is poor and the vehicle needs to be decelerated and crawled. If the vehicle speed is less than 8km/h, no prompt is given to the driver.
When Δ HLAnd Δ HRAnd when the distance is larger than 25cm, the road surface state is poor. If Δ HLMore than 25cm and 10cm < delta HR< 25cm or Δ HRMore than 25cm and 10cm < delta HL< 25cm, indicating a poor road surface condition. If Δ HL> 25cm and Δ HR< 10cm or Δ HR> 25cm and Δ HLThe road surface condition is good when the distance is less than 10 cm. If the left and right radar groups detect the bad road surface simultaneously or one group detects the bad road surface, a prompt needs to be given to the driver to remind the driver to brake. If the left and right radar groups detect that the road surface hollow state is poor or the road surface hollow state on one side is poor at the same time, if the vehicle speed is more than 8km/h, the vehicle can prompt a driver to remind the driver that the road surface hollow state behind the vehicle is poor and the driver needs to slow down. If the vehicle speed is less than 8km/h, no prompt is given to the driver.
The invention provides a vehicle reversing auxiliary control method, which judges the depth of a pit through the distance between radar detection and the ground, judges the length of the pit through the duration time of radar detection results, and judges whether the width of the pit exceeds the width of a tire through the comparison of different radar detection results. When the length and the width of the pit are detected to be larger than the set threshold values, and the set threshold value 1 is larger than the depth and smaller than the set threshold value 2, the vehicle gives a first prompt to the driver, and the content can be 'poor state of the pit on the road surface behind the vehicle, please note'. When the length and the width of the pit are detected to be larger than the set threshold value and the depth is larger than the set threshold value 2, the vehicle gives a second prompt to the driver, and the content can be 'the state of the pit on the road surface behind the vehicle is bad and the driver needs to brake in time'. When the detection depth is less than the set value 1, the depression state of the road surface behind the vehicle is good, and no prompt is given to a driver.
In summary, the embodiment of the invention provides a vehicle reversing assisting method, which can accurately detect the hollow state of the ground behind the vehicle in the vehicle reversing process, and when the hollow state is detected to damage the vehicle or a driver, the vehicle reversing assisting method can give a prompt to the driver to assist the driver in reversing operation, so that the safety in the vehicle reversing process is better ensured.
In a third aspect, based on the same inventive concept, the present embodiment provides a vehicle including the vehicle reverse assistance system of any one of the first aspects.
Since the vehicle reversing auxiliary system included in the vehicle according to the embodiment of the present invention has been described in the foregoing, based on the vehicle reversing auxiliary system described in the embodiment of the present invention, those skilled in the art can understand the specific structure and effect principle of the vehicle, and details are not described herein again. All vehicles comprising the vehicle reversing aid system provided by the embodiment of the invention belong to the protection scope of the invention.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A vehicle reversing auxiliary method is applied to a reversing auxiliary control unit in a vehicle reversing auxiliary system, the system further comprises a hollow detector arranged behind wheels, and the method comprises the following steps:
acquiring depression data collected by the depression detector;
determining, based on the hole data, whether a hole state of a road surface behind the wheel and a hole width in a vehicle width direction are larger than a wheel width;
and determining whether the vehicle backs up or not based on the hollow state and whether the hollow width is larger than the width of the wheels, and if so, initiating an alarm to a driver.
2. The method of claim 1, wherein the pothole detector comprises: a first radar, a second radar, the first radar and the second radar being disposed along the vehicle width direction behind the same rear wheel of the vehicle, the pothole data including pothole depths detected by the first radar and the second radar, determining, based on the pothole data, whether a pothole state of a road surface behind the wheel and a pothole width in the vehicle width direction are greater than a wheel width, including:
if the hole depth detected by at least one of the first radar and the second radar is larger than a first preset value and smaller than a second preset value, determining that the hole state of the road surface behind the rear wheel is a bad state;
if the depression depths detected by the first radar and the second radar are both greater than the first preset value, determining that the depression width behind the wheel is greater than the wheel width;
and if the depression depths detected by the first radar and the second radar are both larger than or equal to the second preset value, judging that the depression state of the road surface behind the rear wheel is a bad state.
3. The method of claim 2, wherein a distance between the first radar and the second radar is less than or equal to the wheel width, and a difference between the distance and the wheel width is within a preset range, the preset range determined based on a condition that a wheel passes through a rear pothole.
4. The method of claim 2, wherein determining whether there is a risk of reversing the vehicle based on the pothole status and whether the pothole width is greater than a wheel width comprises:
if the hollow state of the road surface behind the rear wheels is in a bad state and the hollow width behind the wheels is larger than the width of the wheels, detecting whether the reversing speed of the vehicle is smaller than a preset speed, if so, judging that the vehicle does not have a risk when reversing, and if not, judging that the vehicle does not have a risk when reversing;
and if the pothole state of the road surface behind the rear wheels is a bad state, judging that the vehicle is in a risk of backing.
5. The method according to claim 2, wherein the determining that the pothole condition in the road surface behind the rear wheels is a bad condition includes:
and detecting the duration time that the hole depth is greater than a first preset value and less than a second preset value, and if the duration time exceeds a preset time length, judging that the hole state of the road surface behind the rear wheel is in a bad state.
6. A vehicle backup assist system, comprising: supplementary the control unit and set up in the pothole detector at wheel rear backs of backing a car, the supplementary the control unit of backing a car with pothole detector connects, wherein:
the hollow detector is used for collecting hollow data behind the wheels;
the reverse assist control unit is used for determining whether the pothole state of the road surface behind the wheels and the pothole width in the width direction of the vehicle are larger than the wheel width or not based on the pothole data; and determining whether the vehicle backs up or not based on the hollow state and whether the hollow width is larger than the width of the wheels, and if so, initiating an alarm to a driver.
7. The system of claim 6, wherein the pothole detectors comprise: first radar and second radar, first radar with the second radar is followed vehicle width direction lays in the same rear wheel rear of vehicle, hole data includes the hole degree of depth that first radar and the second radar detected, the auxiliary control unit that backs a car is used for:
if the hole depth detected by at least one of the first radar and the second radar is larger than a first preset value and smaller than a second preset value, determining that the hole state of the road surface behind the rear wheel is a bad state;
if the depression depths detected by the first radar and the second radar are both greater than the first preset value, determining that the depression width behind the wheel is greater than the wheel width;
and if the depression depths detected by the first radar and the second radar are both larger than or equal to the second preset value, judging that the depression state of the road surface behind the rear wheel is a bad state.
8. The system of claim 7, wherein a distance between a detection zone of the hollow detector and the respective rear wheel is greater than or equal to a distance of a rear overhang of the vehicle.
9. The system of claim 7, wherein the pothole detectors are disposed behind two rear wheels of the vehicle, respectively.
10. A vehicle, characterized by comprising: a vehicle backup assistance system according to any one of claims 6 to 9.
CN202110704259.4A 2021-06-24 2021-06-24 Vehicle reversing assisting method and system and vehicle Active CN113415279B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104354644A (en) * 2014-08-26 2015-02-18 孟世民 Reverse monitoring device and vehicle employing same
US20160101734A1 (en) * 2014-10-13 2016-04-14 Lg Electronics Inc. Under vehicle image provision apparatus and vehicle including the same
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