CN114715089A - Method and system for transverse braking of vehicle - Google Patents
Method and system for transverse braking of vehicle Download PDFInfo
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- CN114715089A CN114715089A CN202210325148.7A CN202210325148A CN114715089A CN 114715089 A CN114715089 A CN 114715089A CN 202210325148 A CN202210325148 A CN 202210325148A CN 114715089 A CN114715089 A CN 114715089A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000012545 processing Methods 0.000 claims abstract description 10
- 230000004888 barrier function Effects 0.000 claims abstract description 7
- 230000001133 acceleration Effects 0.000 claims description 3
- 239000004568 cement Substances 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 4
- 230000004913 activation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
Abstract
The invention discloses a method and a system for transversely braking a vehicle, wherein the method comprises the following steps: when the vehicle moves forward, the vehicle moving direction and the vehicle moving direction form an angle of 90-135 degrees, or when the vehicle reverses, the vehicle moving direction and the vehicle reversing direction form an angle of 45-135 degrees, and then the vehicle is the target vehicle; processing and analyzing according to the acquired barrier data of the surrounding environment of the vehicle to divide the surrounding area of the vehicle into a passable area and a non-passable area; if the target vehicle is located in the passable area, performing real-time tracking detection on the target vehicle, and if the collision time of the vehicle and the target vehicle is less than first set time and the course angle of the target vehicle does not deviate from the collision point, setting the target vehicle as a dangerous target; if the collision time of the dangerous target and the vehicle is less than the second set time, controlling the vehicle to automatically brake; the second set time is less than the first set time. The method can effectively improve the accuracy of the transverse braking of the vehicle and the safety of a driver, and meanwhile, the user experience is improved.
Description
Technical Field
The invention belongs to the technical field of automobile safety, and particularly relates to a method and a system for transversely braking a vehicle.
Background
Public road environments are becoming more complex with the increase of vehicles, and the complex road environments and complex vehicle conditions bring greater challenges to the safety of drivers. Particularly, when obstacles block or the field of vision is poor during backing, the driver is likely to have no time to react to traffic accidents due to vehicles or pedestrians suddenly jumping out of the blind area facing the field of vision. Driver safety can be improved if the vehicle can be assisted by automatic lateral braking.
However, the experience of the transverse braking function of the vehicle on the market is poor at present, the traveling direction and the possibility of collision of the vehicle are judged by simply using target information, the use information is less, the radar detection performance is poor, ghost images occur to the radar, and environmental factors are not fused for judgment, so that the mistaken braking and the missed braking can occur, the experience of the driver is poor, and even the danger is brought to the driver.
Disclosure of Invention
In view of the above disadvantages in the prior art, the present invention aims to provide a method and a system for laterally braking a vehicle, which can effectively improve the accuracy of laterally braking the vehicle and the safety of a driver, and improve the user experience.
The technical scheme of the invention is realized as follows:
a method of lateral vehicle braking comprising the steps of:
when the vehicle moves forwards, the vehicle moving direction and the vehicle moving direction form an angle of 90-135 degrees, or when the vehicle reverses, the vehicle moving direction and the vehicle reversing direction form an angle of 45-135 degrees, and then the vehicle is the target vehicle.
Processing and analyzing according to the acquired obstacle data of the surrounding environment of the vehicle to divide the surrounding area of the vehicle into a passable area and a non-passable area.
And if the target vehicle is located in the passable area, performing real-time tracking detection on the target vehicle, and if the collision time of the vehicle and the target vehicle is less than the first set time and the course angle of the target vehicle does not deviate from the collision point, setting the target vehicle as a dangerous target.
If the collision time of the dangerous target and the vehicle is less than the second set time, controlling the vehicle to automatically brake; wherein the second set time is less than the first set time.
Further, when the vehicle moves forward, the speed of the vehicle is 5-30 km/h, and the steering wheel angle is smaller than 15 degrees.
Further, when the vehicle is reversed, the speed of the vehicle is 2-15 km/h, and the steering wheel angle is less than 30 degrees.
Further, obstacle data is acquired by a radar device provided in the vehicle.
Further, the radar apparatus comprises at least one of: ultrasonic radar, laser radar, millimeter wave radar.
Still further, the radar means is a millimeter wave radar.
Further, the obstacles include, but are not limited to: cement walls, guardrails, road edges, water horses, cone-shaped cylinders and traffic.
Further, the first set time is 1.5s, and the second set time is 1 s.
A system for lateral vehicle braking, comprising:
a radar device for acquiring obstacle data of an environment around a host vehicle; acquiring target vehicle information which forms an angle of 90-135 degrees with the advancing direction of the vehicle when the vehicle advances; acquiring target vehicle information which forms an angle of 45-135 degrees with the vehicle backing direction when the vehicle backs; and carrying out real-time tracking detection on the target vehicle.
The processing module is used for carrying out processing analysis according to the acquired barrier data of the surrounding environment of the vehicle so as to divide the surrounding area of the vehicle into a passable area and a non-passable area; the system is used for judging whether the target vehicle is positioned in the passable area or not; calculating the collision time of the vehicle and the target vehicle according to the target vehicle information; a braking request is issued.
And the vehicle body controller is used for receiving the braking request to control the vehicle to automatically brake.
Further, the target vehicle information includes, but is not limited to, speed, acceleration, heading angle, and distance from the host vehicle of the target vehicle.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the area around the vehicle is divided into the passable area and the non-passable area through the barrier data, and then the target vehicle in the passable area is tracked and detected in real time, so that the accuracy of the transverse braking of the vehicle is greatly improved, the situations of mistaken braking and missed braking caused by the factors such as insufficient radar detection performance and ghost shadow are reduced, and the safety and experience of a driver are improved.
2. The invention effectively limits the speed and the steering wheel angle of the vehicle and further improves the accuracy of the transverse braking of the vehicle.
Drawings
Fig. 1-a screening illustration of passable areas.
Fig. 2-schematic diagram of lateral brake activation while the vehicle is moving forward.
FIG. 3-schematic diagram of lateral brake activation when the vehicle is reversing.
Fig. 4-schematic diagrams of the direction of travel of the target vehicle at 90 ° and 135 ° to the direction of travel of the host vehicle.
Fig. 5-schematic diagrams of the direction of travel of the target vehicle at 45 ° and 135 ° to the direction of reverse of the host vehicle.
FIG. 6-logic diagram of a target vehicle identified as a dangerous target.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
A method of lateral vehicle braking comprising the steps of:
(1) when the vehicle moves forwards, the vehicle moving direction and the vehicle moving direction form an angle of 90-135 degrees, or when the vehicle reverses, the vehicle moving direction and the vehicle reversing direction form an angle of 45-135 degrees, and then the vehicle is the target vehicle.
(2) Processing and analyzing according to the acquired barrier data of the surrounding environment of the vehicle to divide the surrounding area of the vehicle into a passable area and a non-passable area;
(3) if the target vehicle is located in the passable area, performing real-time tracking detection on the target vehicle, and if the collision time of the vehicle and the target vehicle is less than first set time and the course angle of the target vehicle does not deviate from the collision point, setting the target vehicle as a dangerous target;
(4) if the collision time of the dangerous target and the vehicle is less than the second set time, controlling the vehicle to automatically brake; wherein the second set time is less than the first set time.
Therefore, the area around the vehicle is divided into the passable area and the non-passable area, the target vehicle in the non-passable area is defined as the non-dangerous target and is excluded from the detection range, and the target vehicle in the passable area is only subjected to real-time tracking and monitoring, so that the conditions of ghost images, error braking and missed braking caused by insufficient detection performance are effectively reduced, and the accuracy of the transverse braking of the vehicle is improved.
The first setting time and the second setting time can be set according to requirements. If the target vehicle does not have a collision condition due to a change in the heading angle at which the target vehicle travels, the target vehicle is removed from the dangerous target.
In the concrete implementation, when the vehicle advances, the speed of the vehicle is 5-30 km/h, and the steering wheel angle is less than 15 degrees. When the vehicle is backed, the speed of the vehicle is 2-15 km/h, and the turning angle of the steering wheel is less than 30 degrees.
Therefore, the speed and steering wheel steering of the vehicle are limited, so that dangerous targets can be effectively detected in the forward and backward processes of the vehicle, and the accuracy of the transverse braking of the vehicle is further ensured.
In specific implementation, the obstacle data is acquired by a radar device of the vehicle.
The detection device is not required to be additionally arranged, and the radar device of the vehicle is adopted to obtain the obstacle data.
In a specific implementation, the radar device at least comprises one of the following components: ultrasonic radar, laser radar, millimeter wave radar.
In specific implementation, the radar device is a millimeter wave radar.
With the rapid development of the vehicle-mounted millimeter wave radar, the detection capability of the millimeter wave radar is continuously improved, and the digital modulation scheme and the compressed sensing are used for an automobile radar system, so that the distance, speed and angle measurement ranges of the radar can be improved, and the resolution capability of the distance, speed and angle is further enhanced. The millimeter wave radar can provide more and more environment perception information, and can help to realize more driving assistance functions.
In particular implementations, the obstacles include, but are not limited to: cement walls, guardrails, road edges, water horses, cone-shaped cylinders and traffic. Fig. 1 is a schematic diagram showing the screening of passable areas.
In specific implementation, the first set time is 1.5s, and the second set time is 1 s.
A system for lateral vehicle braking, comprising:
a radar device for acquiring obstacle data of an environment around a host vehicle; acquiring target vehicle information which forms an angle of 90-135 degrees with the advancing direction of the vehicle when the vehicle advances; acquiring target vehicle information which forms an angle of 45-135 degrees with the vehicle backing direction when the vehicle backs; and carrying out real-time tracking detection on the target vehicle.
The processing module is used for carrying out processing analysis according to the acquired barrier data of the surrounding environment of the vehicle so as to divide the surrounding area of the vehicle into a passable area and a non-passable area; the system is used for judging whether the target vehicle is positioned in the passable area or not; calculating the collision time of the vehicle and the target vehicle according to the target vehicle information; a braking request is issued.
And the vehicle body controller is used for receiving the braking request to control the vehicle to automatically brake.
In particular implementations, the target vehicle information includes, but is not limited to, a speed, an acceleration, a heading angle, and a distance from the host vehicle of the target vehicle.
In the method for braking by adopting the vehicle transverse braking system, when the vehicle is in a forward state, a switch state signal sent by the HU is received to be started, the gear of the vehicle is in a D gear, the forward speed of the vehicle is more than 5km/h and less than 30km/h, and the turning angle of a steering wheel of the vehicle is less than 15 degrees, the state of the vehicle front transverse braking system is changed from an inactivated state to an activated state, as shown in fig. 2.
When the vehicle is in a reverse state, the state of the vehicle reverse transverse braking system is changed from an inactivated state to an activated state when a switch state signal sent by the HU is received and the gear of the vehicle is in an R gear, the vehicle speed of the vehicle reverse is more than 2km/h and less than 15km/h, and the turning angle of the steering wheel of the vehicle is less than 30 degrees, as shown in fig. 3.
When the target enters the function triggering area and the traveling track of the area section with the advancing direction of the vehicle between 90 degrees and 135 degrees has an intersection point, the target is in the passable area, the collision time of the vehicle and the target vehicle is less than 1.5s, the target course angle does not deviate from the collision point, the target is set as a dangerous target, and the schematic diagram of the advancing direction of the target vehicle and the advancing direction of the vehicle between 90 degrees and 135 degrees is shown in fig. 4.
When a cross point exists between the target entering the function triggering area and the area section travel track of 45 degrees to 135 degrees of the vehicle reversing direction, the target is in the passable area range, the collision time of the vehicle and the target vehicle is less than 1.5s, and the target course angle does not deviate from the collision point, the target is set as a dangerous target, and a schematic diagram of 45 degrees and 135 degrees of the target vehicle travel direction and the vehicle reversing direction is shown in fig. 5.
The logic for a target vehicle being identified as a dangerous target is shown in fig. 6.
Finally, it should be noted that the above examples of the present invention are only for illustrating the present invention and are not intended to limit the embodiments of the present invention. Variations and modifications in other variations will occur to those skilled in the art upon reading the foregoing description. Not all embodiments are exhaustive. All obvious changes and modifications of the present invention are within the scope of the present invention.
Claims (10)
1. A method of lateral vehicle braking, comprising the steps of:
when the vehicle advances, the advancing direction of the vehicle and the advancing direction of the vehicle form an angle of 90-135 degrees, or when the vehicle reverses, the advancing direction of the vehicle and the reversing direction of the vehicle form an angle of 45-135 degrees, and then the vehicle is the target vehicle;
processing and analyzing according to the acquired barrier data of the surrounding environment of the vehicle to divide the surrounding area of the vehicle into a passable area and a non-passable area;
if the target vehicle is located in the passable area, performing real-time tracking detection on the target vehicle, and if the collision time of the vehicle and the target vehicle is less than first set time and the course angle of the target vehicle does not deviate from the collision point, setting the target vehicle as a dangerous target;
if the collision time of the dangerous target and the vehicle is less than the second set time, controlling the vehicle to automatically brake; wherein the second set time is less than the first set time.
2. The method of claim 1, wherein the vehicle speed is 5-30 km/h and the steering angle is less than 15 ° while the vehicle is moving forward.
3. The method of claim 1, wherein when the vehicle is backing, the vehicle speed is 2-15 km/h, and the steering angle is less than 30 °.
4. The method of claim 1, wherein the obstacle data is obtained by a radar device provided in the vehicle.
5. The method of claim 4, wherein the radar device comprises at least one of: ultrasonic radar, laser radar, millimeter wave radar.
6. The method of claim 5, wherein the radar device is a millimeter wave radar.
7. A method of lateral vehicle braking according to claim 1, wherein the obstacles include, but are not limited to: cement walls, guardrails, road edges, water horses, cone-shaped cylinders and traffic.
8. The method of claim 1, wherein the first set time is 1.5s and the second set time is 1 s.
9. A system for lateral braking of a vehicle, comprising:
a radar device for acquiring obstacle data of an environment around a host vehicle; acquiring target vehicle information which forms an angle of 90-135 degrees with the advancing direction of the vehicle when the vehicle advances; acquiring target vehicle information which forms an angle of 45-135 degrees with the backing direction of the vehicle when the vehicle backs; carrying out real-time tracking detection on the target vehicle;
the processing module is used for carrying out processing analysis according to the acquired barrier data of the surrounding environment of the vehicle so as to divide the surrounding area of the vehicle into a passable area and a non-passable area; the system is used for judging whether the target vehicle is positioned in the passable area or not; calculating the collision time of the vehicle and the target vehicle according to the target vehicle information; sending a braking request;
and the vehicle body controller is used for receiving the braking request to control the vehicle to automatically brake.
10. The system of claim 9, wherein the target vehicle information includes, but is not limited to, speed, acceleration, heading angle, and distance from the host vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210325148.7A CN114715089A (en) | 2022-03-30 | 2022-03-30 | Method and system for transverse braking of vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210325148.7A CN114715089A (en) | 2022-03-30 | 2022-03-30 | Method and system for transverse braking of vehicle |
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| CN114715089A true CN114715089A (en) | 2022-07-08 |
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| CN202210325148.7A Pending CN114715089A (en) | 2022-03-30 | 2022-03-30 | Method and system for transverse braking of vehicle |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105764762A (en) * | 2013-11-18 | 2016-07-13 | 丰田自动车株式会社 | Vehicle control system and vehicle control method |
| CN107284454A (en) * | 2016-04-01 | 2017-10-24 | 株式会社万都 | Collision prevention device and collision-proof method |
| CN110182203A (en) * | 2018-02-20 | 2019-08-30 | 现代自动车株式会社 | Vehicle and its control method |
| CN110949402A (en) * | 2019-11-15 | 2020-04-03 | 中国第一汽车股份有限公司 | Alarm area determination method and device, storage medium and vehicle |
| CN113276846A (en) * | 2021-05-25 | 2021-08-20 | 华域汽车系统股份有限公司 | Rear cross traffic alarm system and method |
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- 2022-03-30 CN CN202210325148.7A patent/CN114715089A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105764762A (en) * | 2013-11-18 | 2016-07-13 | 丰田自动车株式会社 | Vehicle control system and vehicle control method |
| CN107284454A (en) * | 2016-04-01 | 2017-10-24 | 株式会社万都 | Collision prevention device and collision-proof method |
| CN110182203A (en) * | 2018-02-20 | 2019-08-30 | 现代自动车株式会社 | Vehicle and its control method |
| CN110949402A (en) * | 2019-11-15 | 2020-04-03 | 中国第一汽车股份有限公司 | Alarm area determination method and device, storage medium and vehicle |
| CN113276846A (en) * | 2021-05-25 | 2021-08-20 | 华域汽车系统股份有限公司 | Rear cross traffic alarm system and method |
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Application publication date: 20220708 |
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