RU2526144C2 - Method for prevention of vehicle collision with dynamic obstacle - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to vehicle (V) operation safety systems. In the method for prevention of vehicle collision with dynamic obstacle moving in front zone of V, distance to moving obstacle and its travel speed is evaluated using signals of ultrasonic sensors, laser rangefinder and information from computer vision system. Obtained data and known V speed are used to forecast the point whereat, V stays on trajectory of its motion at the moment of V trajectory intersection by dynamic obstacle. If forecasted point of V presence is located on the trajectory of obstacle movement trajectories and optimal manoeuvre is calculated to prevent of V collision with the obstacle. Control signal generating unit transmits signals to V braking system, engine control system and steering gear.

EFFECT: higher V operation safety.

1 dwg

Description

The invention relates to systems for ensuring the safe operation of vehicles (TS).

Currently, the safety of vehicles, in particular the car, is provided, as a rule, by the driver under the assumption that the driver is obliged to independently assess the situation around the car and provide such a choice of traffic parameters (speed, lane, etc.) in which a collision is excluded with another vehicle or an obstacle, or a pedestrian. However, this creates a large load on the driver and dangerously inadequate choice of vehicle motion parameters.

To assess the traffic situation in the area in front of the car, automated means have been distributed to warn the driver, as well as to correct the movement of the car in cases of changing motion parameters of the vehicle in front. Such tools are usually based on the use of laser radars, which determine the distance to the vehicle moving ahead and its speed, as well as comparing the latter with the speed of the pursuing vehicle (DE 102005008715 A1, G01S 13/93, 08/31/2006; US 2007/0146684 A1 G01C 3/08, 06/28/2007). Known means of this purpose have a limited area of practical application, covering only the control of a frontally located or moving obstacle.

Technical solutions are also known for preventing a collision of a vehicle with an obstacle moving in the anterolateral zone of the vehicle in the direction crossing the vehicle trajectory. These decisions are based on measuring the distance to the indicated obstacle and its speed at certain intervals, followed by assessing the probability of the collision of the obstacle with the vehicle and taking measures to eliminate it (JP 2008062873, B60W 30/08, 03/21/2008; RU 2007107698 A, B60R 21 / 00, 09/10/2008).

Known invention (RU 2402445 B60W 030/08, 10/27/2010; prototype), which is aimed at providing effective control over the movement of obstacles in the anterolateral zone, if the direction of this movement crosses the trajectory of the vehicle. The technical result achieved in this case is to increase traffic safety by providing preventive warning to the driver about a moving obstacle arising in the anterolateral zone and appropriate control of vehicle motion parameters.

The present invention is intended to improve the safety of operation of the vehicle while driving by monitoring the traffic situation around the vehicle and generating control signals to the actuators of the vehicle.

The specified technical result is achieved by the claimed method of preventing collision of a vehicle with a dynamic obstacle moving in the front zone of the vehicle in the direction crossing the vehicle trajectory, according to which using the received and processed signals of ultrasonic sensors, a laser range finder and information from the vision system, the distance to the moving obstacle is estimated, its speed of movement and dimensions of the obstacle, according to the received data and the known speed of the vehicle, as well as taking into account m of sensor signals controlling the lateral and posterolateral zones of the vehicle, predict the location of the vehicle on the trajectory at the moment the dynamic obstacle intersects the vehicle trajectory and in the case of the location of the predicted vehicle location on the trajectory at the predicted intersection or its vicinity, the trajectory is calculated by transmitting information in the block generating control signals, which are then transmitted to the actuators of the vehicle, including the brake system of the vehicle, the control system Nia engine and steering system, and the implementation of an optimal maneuver to avoid a collision with the vehicle dynamic obstacle and prevent the emergence of new vehicle collisions with obstacles located or moving on adjacent lanes.

The present invention is illustrated by the example shown in figure 1, which shows the radiation pattern of several sensors mounted on board the vehicle during the movement of the vehicle (1). The claimed method involves the presence of the following sensors, indicated in figure 1: ultrasonic sensors and / or vision system (4) that monitor the appearance of a dynamic obstacle (2) in the front area of the vehicle (1) and its transverse velocity, ultrasonic sensors and / or a technical vision system (3) that control the presence of vehicles and other obstacles in the rear-side and rear zones of the vehicle (1), as well as a laser range finder (5), which allows to estimate the distance to an obstacle (2) located in the lane with increased accuracy days TC zone and its displacement speed. The presented example is not the only possible one, but it clearly demonstrates the possibility of achieving the required technical result with the given set of features.

According to the data obtained from sensors monitoring the front area of the vehicle and the known vehicle speed, the location of the vehicle on the motion path is predicted at the moment the dynamic path intersects the vehicle path.

In the case of the location of the predicted vehicle location on the trajectory before or after the intersection point at a distance guaranteed to prevent the vehicle from colliding with a dynamic obstacle, continue to move at the same speed.

In the case of the location of the predicted vehicle location on the trajectory in the vicinity of the predicted intersection point, the vehicle driver and / or the dynamic obstacle are notified with sound and / or light warning signals and measures are taken to prevent the vehicle from colliding with the dynamic obstacle.

The claimed method involves the following algorithm of the system for preventing collision of a vehicle with a dynamic obstacle: the signals of ultrasonic sensors and the vision system that monitor the appearance of an obstacle in the front zone of the vehicle are transmitted to the unit for determining the distance to the obstacle and the speed of approach of the vehicle with a dynamic obstacle if, as a result of calculations, danger of collision, a light and / or sound warning of the vehicle driver and / or obstacle is generated. At the same time, the possibility of avoiding a head-on collision and calculating the optimal trajectory of avoiding a collision is determined, while taking into account the vehicle speed, the vehicle approach speed and obstacles, obstacle parameters, the presence and behavior of other obstacles in the rear-side and rear areas of the vehicle due to the signals of ultrasonic sensors and / or system technical vision, controlling the posterolateral and posterior zones of the vehicle. If evasion is possible, then the trajectory is calculated and this information is transmitted to the control signal generation unit, which are supplied to the vehicle's executive mechanisms, such as the vehicle's braking system, engine management system and steering system. The signals of ultrasonic sensors and / or a vision system that controls the rear-side and rear zones of the vehicle can limit the maneuver if the adjacent lane is busy, and these sensors control the presence of an extraneous vehicle, including in the blind zone of the vehicle .

New in the proposed method is a combination of well-known technical solutions for determining a dynamic obstacle located on the vehicle trajectory, and technical solutions for collision avoidance methods and their application aimed at solving the technical problem of preventing and preventing a vehicle colliding with a dynamic obstacle.

Claims (1)

A method for preventing a collision of a vehicle with a dynamic obstacle moving in the front zone of the vehicle in the direction crossing the vehicle trajectory, according to which using the received and processed signals of ultrasonic sensors, a laser rangefinder and information from the vision system, the distance to the moving obstacle and its speed are estimated, according to the received data and the known vehicle speed, as well as taking into account the signals of sensors monitoring the lateral and posterolateral vehicle zones, they predict the vehicle location on the trajectory at the moment the vehicle intersects the vehicle trajectory with a dynamic obstacle and in the case of the location of the predicted vehicle location on the motion path at the predicted intersection point or its vicinity, the trajectory is calculated and the maneuver is performed to prevent the vehicle from colliding with a dynamic obstacle and to prevent the occurrence of new collisions of the vehicle with obstacles located or moving in adjacent lanes, distinguishing by the fact that the calculation of the trajectory is performed by transmitting information block generating control signals which are then transmitted to actuating mechanisms vehicle comprising vehicle brake system, the engine control system and steering system.