CN117622132A - Rear transverse incoming vehicle early warning RCTA control method and device - Google Patents
Rear transverse incoming vehicle early warning RCTA control method and device Download PDFInfo
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Abstract
The invention relates to a rear transverse incoming vehicle early warning RCTA control method, which comprises the following steps: detecting that an object positioned behind the host vehicle approaches the host vehicle from the lateral direction; determining a parking angle of the vehicle; determining a distance DDCI from the center of a rear axle of the vehicle to a track intersection; adjusting the distance DDCI based on the parking angle, thereby obtaining an adjusted distance ddci_found; and determining whether to activate a rear transverse oncoming vehicle warning RCTA function based on the adjusted distance DDCI_resolved. The invention also relates to a rear transverse incoming vehicle early warning RCTA control device, a computer storage medium, a computer program product, an auxiliary driving system ADAS and a vehicle.
Description
Technical Field
The present invention relates to the field of vehicle control, and more particularly, to a rear transverse oncoming vehicle warning RCTA control method and apparatus, a computer storage medium, a computer program product, an advanced driving assistance system ADAS, and a vehicle.
Background
Rear transverse oncoming warning (RCTA, rear Cross Traffic Alert) is a driver assistance function for warning the driver of an oncoming situation on both sides during reversing. It is complementary to the safety assistance of blind areas, mainly for detecting vehicles, but also for detecting smaller objects, such as riders and pedestrians.
However, there are still many false positive (RCTA) situations in the existing rear transverse approach, which brings risk to occupants in the vehicle.
Therefore, an improved rear-lateral approach warning RCTA control scheme is desired to reduce or avoid the false-negatives of rear-lateral approach warning RCTA functions, thereby improving safety.
Disclosure of Invention
According to one aspect of the invention, there is provided a rear transverse oncoming vehicle pre-warning RCTA control method, comprising: detecting that an object positioned behind the host vehicle approaches the host vehicle from the lateral direction; determining a parking angle of the vehicle; determining a distance DDCI from the center of a rear axle of the vehicle to a track intersection; adjusting the distance DDCI based on the parking angle, thereby obtaining an adjusted distance ddci_found; and determining whether to activate a rear transverse oncoming vehicle warning RCTA function based on the adjusted distance DDCI_resolved.
In addition or alternatively, in the above method, the parking angle is β, which is a complementary angle of an included angle between a motion track of the vehicle and a motion track of the object.
Additionally or alternatively to the above, in the above method, adjusting the distance DDCI based on the parking angle, thereby obtaining an adjusted distance ddci_found includes: determining a first distance a1, wherein a1=b/cos β, and b represents the distance from the center of the rear axle of the vehicle to the rearmost end; determining a second distance a2, wherein a2= (0.5 x width-b x tan β)/sin β, width represents the width of the vehicle; and determining the adjusted distance ddci_restored to a1+a2+c, wherein c represents the vertical distance of the object from the host vehicle.
Additionally or alternatively to the above, in the above method, determining whether to activate the rear transverse oncoming traffic warning RCTA function based on the adjusted distance ddci_resolved includes: determining a potential collision time based on the adjusted distance ddci_resolved; and when the potential collision time is smaller than a preset threshold value, determining to activate the rear transverse incoming vehicle early warning RCTA function.
According to another aspect of the present invention, there is provided a rear transverse oncoming traffic warning RCTA control apparatus, the apparatus comprising: the detection device is used for detecting that an object positioned behind the vehicle approaches the vehicle from the side direction; the first determining device is used for determining the parking angle of the vehicle; a second determining device for determining a distance DDCI from the center of the rear axle of the host vehicle to the track intersection; an adjusting means for adjusting the distance DDCI based on the parking angle, thereby obtaining an adjusted distance ddci_found; and third determining means for determining whether or not to activate the rear transverse oncoming vehicle warning RCTA function based on the adjusted distance ddci_provided.
In addition or alternatively, in the above apparatus, the parking angle is β, which is a complementary angle of an included angle between a motion trajectory of the host vehicle and a motion trajectory of the object.
Additionally or alternatively to the above, in the above apparatus, the adjusting device includes: a first determining unit configured to determine a first distance a1, wherein a1=b/cos β, b represents a distance from a rear axle center to a rearmost end of the host vehicle; a second determining unit configured to determine a second distance a2, where a2= (0.5×width-b×tan β)/sin β, width represents a width of the host vehicle; and a third determining unit configured to determine the adjusted distance ddci_restored to a1+a2+c, where c represents a vertical distance of the object from the host vehicle.
Additionally or alternatively to the above, in the above apparatus, the third determining means is configured to: determining a potential collision time based on the adjusted distance ddci_resolved; and when the potential collision time is smaller than a preset threshold value, determining to activate the rear transverse incoming vehicle early warning RCTA function.
According to yet another aspect of the invention, there is provided a computer storage medium comprising instructions which, when executed, perform a method as described above.
According to a further aspect of the invention there is provided a computer program product comprising a computer program which, when executed by a processor, implements a method as described above.
According to yet another aspect of the present invention, there is provided an advanced driving assistance system ADAS comprising a rear transverse oncoming traffic warning RCTA control device as described before.
According to yet another aspect of the invention, a vehicle is provided, comprising an advanced driving assistance system ADAS as described before.
The inventor of the application realizes that the reasons that more missing report situations exist for the rear transverse incoming vehicle early warning RCTA function are as follows: the distance DDCI from the center of the rear axle of the vehicle to the track intersection is directly used as a judging basis for activating the rear transverse vehicle coming early warning RCTA function, and the parking angle is ignored. It will be appreciated that the distance DDCI from the center of the rear axle of the host vehicle to the intersection of the tracks varies with the parking angle.
Based on the above findings, the rear transverse approaching vehicle pre-warning RCTA control scheme of the embodiment of the invention adjusts the distance DDCI from the center of the rear axle of the host vehicle to the track intersection according to the determined parking angle of the host vehicle, and determines whether to activate the rear transverse approaching vehicle pre-warning RCTA function based on the adjusted distance ddci_found. This solution is particularly suitable for use in situations where the vehicle is parked at an oblique angle (i.e. the parking direction is at an angle to the road edge, for example 45 degrees). The distance DDCI-resolved adjusted according to the parking angle is beneficial to more reasonably determining whether the rear transverse coming vehicle early warning RCTA function is activated or not, and missing report is avoided.
Drawings
The above and other objects and advantages of the present invention will become more fully apparent from the following detailed description taken in conjunction with the accompanying drawings, in which identical or similar elements are designated by the same reference numerals.
FIG. 1 shows a flow diagram of a rear transverse oncoming vehicle warning RCTA control method according to one embodiment of the invention;
FIG. 2 shows a schematic structural diagram of a rear transverse oncoming traffic warning RCTA control device in accordance with one embodiment of the invention;
FIG. 3 shows a schematic diagram of determining the distance DDCI from the center of the rear axle of the host vehicle to the intersection of the tracks in an angled parking scenario;
fig. 4 shows a schematic diagram of determining a distance DDCI' from a rear axle center to a track crossing of the host vehicle in a vertical parking scenario; and
fig. 5 shows a schematic diagram of optimizing DDCI according to parking angle in an oblique parking scenario, according to one embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following detailed description of specific embodiments of the present invention is given with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof.
Hereinafter, a rear lateral approach warning RCTA control scheme according to various exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 shows a schematic flow diagram of a rear transverse oncoming vehicle warning RCTA control method 1000 according to an embodiment of the invention. As shown in fig. 1, the rear transverse oncoming vehicle early warning RCTA control method 1000 includes the following steps:
in step S110, an object located behind the host vehicle is detected to approach the host vehicle from the lateral direction;
in step S120, determining a parking angle of the host vehicle;
in step S130, determining a distance DDCI from the center of the rear axle of the host vehicle to the track intersection;
in step S140, the distance DDCI is adjusted based on the parking angle, thereby obtaining an adjusted distance ddci_found; and
in step S150, it is determined whether the rear lateral approach warning RCTA function is activated based on the adjusted distance ddci_resolved.
In the context of the present invention, rear transverse oncoming vehicle warning (RCTA, rear Cross Traffic Alert) represents a driving assistance function for warning the driver of an oncoming vehicle situation on both sides during reversing. In one embodiment, in step S110, whether or not an object is approaching from the rear of the left and right sides of the host vehicle may be detected by a sensor (e.g., a millimeter wave sensor).
Next, in step S120, the parking angle of the host vehicle is determined. In one embodiment, the parking angle is the complementary angle of the included angle between the motion track of the vehicle and the motion track of the object. As shown in fig. 5, the parking angle is represented by an angle β, which is the remaining angle of the motion trajectory of the host vehicle 510 and the motion trajectory of the target 520 approaching the host vehicle. Those skilled in the art will appreciate that in other embodiments, the parking angle may also be represented by the angle of the trajectory of the host vehicle 510 relative to the trajectory of the object 520 approaching the host vehicle.
In step S130, the distance DDCI from the rear axle center of the host vehicle to the track intersection is determined. Referring to fig. 3, a schematic diagram of determining the distance DDCI from the center of the rear axle of the host vehicle to the intersection of the tracks in an oblique parking scenario is shown. As shown in fig. 3, the vehicle 310 backs up from the parking line 330, and the movement track thereof intersects with the movement track of the target vehicle 320 approaching from the rear left side of the vehicle 310 at a point 340, and this point 340 is the track intersection. Thus, the track crossing point represents the coincidence point of the host vehicle and the target motion track. The distance DDCI is defined as the distance from the center of the rear axle of the host vehicle to the intersection of the tracks, and is commonly used to calculate whether the rear transverse vehicle approach warning (RCTA, rear Cross Traffic Alert) function is activated.
Fig. 4 shows a schematic diagram of determining the distance DDCI' from the center of the rear axle of the host vehicle to the track intersection in a vertical parking scenario. As shown in fig. 4, the vehicle 410 backs up from the parking line 430, and its movement track intersects with the movement track of the target vehicle 420 approaching from the rear left side of the vehicle 410 at a point 440, and this point 440 is the track intersection. The distance DDCI' is the distance between the center of the rear axle of the host vehicle 410 and the track intersection 440.
Assuming that the vertical distance (referred to as d 1) between the target vehicle 320 and the parking line 330 in fig. 3 is the same as the vertical distance (referred to as d 2) between the target vehicle 420 and the parking line 430 in fig. 4, the distance DDCI calculated in fig. 3 is also deviated from the distance DDCI' in fig. 4 by a certain amount, and varies with the parking angle of the host vehicle.
Thus, in order to more reasonably determine whether to activate the rear transverse approaching vehicle warning RCTA function to avoid a false alarm, the distance DDCI from the rear axle center of the host vehicle to the track intersection is adjusted based on the parking angle, and the adjusted distance ddci_found is obtained.
Referring to fig. 5, a schematic diagram of optimizing DDCI according to parking angle in an oblique parking scenario is shown, according to one embodiment of the present invention. As shown in fig. 5, the host vehicle 510 backs up from the parking line 530, and the target vehicle 520 approaches from the rear left of the host vehicle 510.
First, some parameters shown in fig. 5, such as c1, c, β, and b, may be determined by key information and real conditions of some vehicles, where c represents a vertical distance of the target vehicle from the host vehicle (or a distance of the target vehicle 520 from the parking line 530), c1 represents a half of a width of the target vehicle 520, and b represents a distance from a rear axle center to a rearmost end of the host vehicle.
The first distance a1, the second distance a2, etc. may then be determined by the angular relationship between the parameters. Specifically, the first distance a1=b/cos β, and b represents the distance from the center of the rear axle of the host vehicle to the rearmost end. Second distance a2= (0.5×width-b×tan β)/sin β, width represents the width of the host vehicle. Third distance a3=a1+a2+a, where a represents the distance from the center position of the target vehicle to the stop line 530.
Finally, the adjusted distance ddci_resolved is determined to be a1+a2+c, and this value is used to determine whether the rear transverse driving pre-warning RCTA function is activated or not.
In one embodiment, determining whether to activate the rear transverse oncoming vehicle warning RCTA function based on the adjusted distance ddci_resolved (i.e., step S150) includes: determining a potential collision time based on the adjusted distance ddci_resolved; and when the potential collision time is smaller than a preset threshold value, determining to activate the rear transverse incoming vehicle early warning RCTA function. Of course, those skilled in the art will readily appreciate that in other embodiments, whether to activate the RCTA function may also be determined based only on whether the adjusted distance DDCI_resolved is less than a predetermined threshold (e.g., 4 m).
In addition, it should be noted that although steps S110 to S150 are shown in a certain order in fig. 1, the rear lateral approach warning RCTA control method of the present invention may employ other orders of steps. For example, the order between step S110 and step S120 may be interchanged.
Furthermore, it will be readily appreciated by those skilled in the art that the rear transverse oncoming vehicle pre-warning RCTA control method 1000 provided by one or more of the above-described embodiments of the present invention may be implemented by a computer program. For example, the computer program is embodied in a computer program product that when executed by a processor implements the rear lateral approach warning RCTA control method 1000 of one or more embodiments of the invention. For another example, when a computer storage medium (e.g., a usb disk) storing the computer program is connected to a computer, the computer program may be executed to perform the rear-lateral approach warning RCTA control method 1000 according to one or more embodiments of the present invention.
Referring to fig. 2, fig. 2 shows a schematic structural diagram of a rear lateral approach warning RCTA control apparatus 2000 according to an embodiment of the present invention. As shown in fig. 2, the rear lateral approach warning RCTA control device 2000 includes: the detection means 210, the first determination means 220, the second determination means 230, the adjustment means 240 and the third determination means 250. Wherein, the detecting device 210 is used for detecting that an object located behind the host vehicle approaches the host vehicle from the lateral direction; the first determining device 220 is configured to determine a parking angle of the host vehicle; the second determining device 230 is configured to determine a distance DDCI from the center of the rear axle of the host vehicle to the track intersection; the adjusting means 240 is configured to adjust the distance DDCI based on the parking angle, thereby obtaining an adjusted distance ddci_found; and third determining means 250 for determining whether to activate the rear transverse oncoming vehicle warning RCTA function based on the adjusted distance ddci_resolved.
In the context of the present invention, rear transverse oncoming vehicle warning (RCTA, rear Cross Traffic Alert) represents a driving assistance function for warning the driver of an oncoming vehicle situation on both sides during reversing. In one embodiment, the detection device 210 may be configured to detect whether an object is approaching behind the left and right sides of the host vehicle by a sensor (e.g., a millimeter wave sensor).
The first determining means 220 is configured to determine a parking angle of the host vehicle. In one embodiment, the parking angle is the complementary angle of the included angle between the motion track of the vehicle and the motion track of the object. As shown in fig. 5, the parking angle is represented by an angle β, which is the remaining angle of the motion trajectory of the host vehicle 510 and the motion trajectory of the target 520 approaching the host vehicle. Those skilled in the art will appreciate that in other embodiments, the parking angle may also be represented by the angle of the trajectory of the host vehicle 510 relative to the trajectory of the object 520 approaching the host vehicle.
The second determining means 230 is configured to determine the distance DDCI from the rear axle center of the host vehicle to the track intersection. Referring to fig. 3, a schematic diagram of determining the distance DDCI from the center of the rear axle of the host vehicle to the intersection of the tracks in an oblique parking scenario is shown. As shown in fig. 3, the vehicle 310 backs up from the parking line 330, and the movement track thereof intersects with the movement track of the target vehicle 320 approaching from the rear left side of the vehicle 310 at a point 340, and this point 340 is the track intersection. Thus, the track crossing point represents the coincidence point of the host vehicle and the target motion track. The distance DDCI is defined as the distance from the center of the rear axle of the host vehicle to the intersection of the tracks, and is commonly used to calculate whether the rear transverse vehicle approach warning (RCTA, rear Cross Traffic Alert) function is activated.
Fig. 4 shows a schematic diagram of determining the distance DDCI' from the center of the rear axle of the host vehicle to the track intersection in a vertical parking scenario. As shown in fig. 4, the vehicle 410 backs up from the parking line 430, and its movement track intersects with the movement track of the target vehicle 420 approaching from the rear left side of the vehicle 410 at a point 440, and this point 440 is the track intersection. The distance DDCI' is the distance between the center of the rear axle of the host vehicle 410 and the track intersection 440.
Assuming that the vertical distance (referred to as d 1) between the target vehicle 320 and the parking line 330 in fig. 3 is the same as the vertical distance (referred to as d 2) between the target vehicle 420 and the parking line 430 in fig. 4, the distance DDCI calculated in fig. 3 is also deviated from the distance DDCI' in fig. 4 by a certain amount, and varies with the parking angle of the host vehicle.
Thus, in order to more reasonably determine whether to activate the rear transverse oncoming vehicle warning RCTA function to avoid false negatives, the adjustment device 240 is configured to adjust the distance DDCI from the rear axle center of the host vehicle to the track intersection based on the parking angle, and obtain the adjusted distance ddci_found.
Although not shown in fig. 2, in one embodiment, the adjustment device 240 includes: a first determining unit configured to determine a first distance a1, wherein a1=b/cos β, b represents a distance from a rear axle center to a rearmost end of the host vehicle; a second determining unit configured to determine a second distance a2, where a2= (0.5×width-b×tan β)/sin β, width represents a width of the host vehicle; and a third determining unit configured to determine the adjusted distance ddci_restored to a1+a2+c, where c represents a vertical distance of the object from the host vehicle. As shown in fig. 5, the first distance a1, the second distance a2, and the like may be determined by an angular relationship between parameters. Specifically, the first distance a1=b/cos β, and b represents the distance from the center of the rear axle of the host vehicle to the rearmost end. Second distance a2= (0.5×width-b×tan β)/sin β, width represents the width of the host vehicle. Third distance a3=a1+a2+a, where a represents the distance from the center position of the target vehicle to the stop line 530. Finally, the third determining unit determines the adjusted distance ddci_resolved as a1+a2+c, and this value is used to determine whether the rear transverse driving early warning RCTA function is activated or not.
In one embodiment, the third determining means 250 is configured to: determining a potential collision time based on the adjusted distance ddci_resolved; and when the potential collision time is smaller than a preset threshold value, determining to activate the rear transverse incoming vehicle early warning RCTA function. Of course, those skilled in the art will readily appreciate that in other embodiments, the third determining means 250 may be configured to determine whether to activate the RCTA function based only on whether the adjusted distance ddci_resolved is less than a preset threshold (e.g., 4 m).
In addition, the rear transverse oncoming vehicle warning RCTA control device 2000 of one or more embodiments of the present invention is suitable for integration in a vehicle having an automatic driving assistance function ADAS. Here, the "automatic driving assistance function" is also called an advanced driving assistance system (ADAS, advanced Driving Assistance System), which uses various sensors (millimeter wave radar, laser radar, single/double camera and satellite navigation) installed on a vehicle to sense the surrounding environment at any time during the running of the vehicle, collect data, identify, detect and track static and dynamic objects, and combine navigation map data to perform systematic operation and analysis, thereby enabling the driver to perceive possible danger in advance and effectively increasing the comfort and safety of the driving of the vehicle.
In summary, the inventor of the present application realized that the reason why there are more missing report situations in the rear transverse incoming vehicle pre-warning RCTA function is: the distance DDCI from the center of the rear axle of the vehicle to the track intersection is directly used as a judging basis for activating the rear transverse vehicle coming early warning RCTA function, and the parking angle is ignored. Based on the above findings, the rear transverse approaching vehicle pre-warning RCTA control scheme of the embodiment of the invention adjusts the distance DDCI from the center of the rear axle of the host vehicle to the track intersection according to the determined parking angle of the host vehicle, and determines whether to activate the rear transverse approaching vehicle pre-warning RCTA function based on the adjusted distance ddci_found. This solution is particularly suitable for use in situations where the vehicle is parked at an oblique angle (i.e. the parking direction is at an angle to the road edge, for example 45 degrees). The distance DDCI-resolved adjusted according to the parking angle is beneficial to more reasonably determining whether the rear transverse coming vehicle early warning RCTA function is activated or not, and missing report is avoided.
While the above description describes only some of the embodiments of the present invention, those of ordinary skill in the art will appreciate that the present invention can be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and the invention is intended to cover various modifications and substitutions without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (12)
1. The rear transverse incoming vehicle early warning RCTA control method is characterized by comprising the following steps:
detecting that an object positioned behind the host vehicle approaches the host vehicle from the lateral direction;
determining a parking angle of the vehicle;
determining a distance DDCI from the center of a rear axle of the vehicle to a track intersection;
adjusting the distance DDCI based on the parking angle, thereby obtaining an adjusted distance ddci_found; and
and determining whether to activate a rear transverse oncoming vehicle early warning RCTA function based on the adjusted distance DDCI_resolved.
2. The method of claim 1, wherein the parking angle is β, which is the complementary angle of the included angle of the motion trajectory of the host vehicle and the motion trajectory of the object.
3. The method of claim 2, wherein adjusting the distance DDCI based on the parking angle, thereby obtaining an adjusted distance ddci_found comprises:
determining a first distance a1, wherein a1=b/cos β, and b represents the distance from the center of the rear axle of the vehicle to the rearmost end;
determining a second distance a2, wherein a2= (0.5 x width-b x tan β)/sin β, width represents the width of the vehicle; and
and determining the adjusted distance DDCI_restored to be a1+a2+c, wherein c represents the vertical distance of the object from the vehicle.
4. The method of claim 1, wherein determining whether to activate the rear transverse oncoming traffic warning RCTA function based on the adjusted distance ddci_resolved comprises:
determining a potential collision time based on the adjusted distance ddci_resolved; and
and when the potential collision time is smaller than a preset threshold value, determining to activate the rear transverse incoming vehicle early warning RCTA function.
5. Rear transverse incoming vehicle early warning RCTA control equipment, characterized in that the equipment comprises:
the detection device is used for detecting that an object positioned behind the vehicle approaches the vehicle from the side direction;
the first determining device is used for determining the parking angle of the vehicle;
a second determining device for determining a distance DDCI from the center of the rear axle of the host vehicle to the track intersection;
an adjusting means for adjusting the distance DDCI based on the parking angle, thereby obtaining an adjusted distance ddci_found; and
and the third determining device is used for determining whether the rear transverse incoming vehicle early warning RCTA function is activated or not based on the adjusted distance DDCI_resolved.
6. The apparatus of claim 5, wherein the parking angle is β, which is a complementary angle of an included angle of a motion trajectory of the host vehicle and a motion trajectory of the object.
7. The apparatus of claim 6, wherein the adjusting means comprises:
a first determining unit configured to determine a first distance a1, wherein a1=b/cos β, b represents a distance from a rear axle center to a rearmost end of the host vehicle;
a second determining unit configured to determine a second distance a2, where a2= (0.5×width-b×tan β)/sin β, width represents a width of the host vehicle; and
and a third determining unit, configured to determine the adjusted distance ddci_found to be a1+a2+c, where c represents a vertical distance of the object from the host vehicle.
8. The apparatus of claim 5, wherein the third determining means is configured to:
determining a potential collision time based on the adjusted distance ddci_resolved; and
and when the potential collision time is smaller than a preset threshold value, determining to activate the rear transverse incoming vehicle early warning RCTA function.
9. A computer storage medium, characterized in that the medium comprises instructions which, when run, perform the method of any one of claims 1 to 4.
10. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1 to 4.
11. Advanced driving assistance system ADAS, characterized in that it comprises a rear transverse oncoming vehicle warning RCTA control device according to any one of claims 5 to 8.
12. A vehicle comprising the advanced driving assistance system ADAS of claim 11.
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| CN202210960745.7A CN117622132A (en) | 2022-08-11 | 2022-08-11 | Rear transverse incoming vehicle early warning RCTA control method and device |
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| CN202210960745.7A CN117622132A (en) | 2022-08-11 | 2022-08-11 | Rear transverse incoming vehicle early warning RCTA control method and device |
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