TW201520101A - Vehicle anti-collision system and method - Google Patents

Abstract

A vehicle anti-collision system includes: a vehicle speed sensing unit; a distance measurement sensing unit, an Electronic Parking Brake (EPB), and a control unit. The vehicle speed sensing unit is provided for sensing the speed of a vehicle. The distance measurement sensing unit is provided for sensing the related distance between the vehicle and an obstacle around the vehicle. The control unit calculates a collision time for the vehicle and the obstacle around the vehicle based on the speed of the vehicle and the related distance between the obstacle and the vehicle. When the collision time is not greater than a braking time, the Electronic Parking Brake (EPB) is controlled to provide assistance in vehicle braking. With the arrangement of the Electronic Parking Brake (EPB) in combination with the vehicle speed sensing unit and the distance measurement sensing unit, it is able to assist vehicle braking in a low-speed vehicle backing or parking condition, so as to prevent the vehicle from encountering a collision and reduce the system establishment cost.

Description

Vehicle collision avoidance system and method

The present invention relates to an anti-collision system and method, and more particularly to a vehicle collision avoidance system and method.

When the driver is sitting inside the car, because the angle of sight of the human eye is limited, it is impossible to take into account the front, rear, left and right directions, especially when parking and reversing, often because the driver does not pay attention or the line of sight cannot be considered at the same time, and it is easy to have a collision. Produced, so how to prevent vehicle collision is one of the main research objectives of the manufacturer.

Early vehicle collision avoidance technology was a passive safety warning. When the vehicle was too close to obstacles, it would generate warnings to alert the driver. At present, it evolved into an active automatic emergency vehicle, and most of them adopt hydraulic brake control system or electronic stability system ( The Electronic Stability Program, or ESP, also known as the Electronic Body Stabilization System, is used with distance sensors. However, both hydraulic brake control systems and electronic stability systems are costly and complicated to control.

Accordingly, it is a first object of the present invention to provide a vehicle collision avoidance system that solves the above problems.

Therefore, the vehicle collision avoidance system of the present invention is suitable for being disposed in a vehicle. The vehicle collision avoidance system comprises: a vehicle speed sensing unit, a distance measuring unit, an electronic parking unit, and a control unit.

The vehicle speed sensing unit is configured to sense the speed of the vehicle and output a corresponding vehicle speed signal.

The ranging sensing unit is configured to sense an obstacle distance between the obstacle and the vehicle around the vehicle and output a corresponding ranging signal.

The electronic parking brake unit (EPB) is configured to receive a control signal and control the braking function of the vehicle according to the control signal.

The control unit is electrically connected to the vehicle speed sensing unit, the distance sensing unit, and the electronic parking unit, respectively receiving the vehicle speed signal and the ranging signal, and calculating according to the vehicle speed signal and the distance measuring signal. The control signal is output when the vehicle collides with a surrounding obstacle and when the collision time is not more than one braking time.

Accordingly, a second object of the present invention is to provide a vehicle collision avoidance method.

Therefore, the vehicle collision avoidance method of the present invention comprises the following steps:

(A) sensing the vehicle speed and outputting a vehicle speed signal, sensing the relevant distance between the obstacle and the vehicle around the vehicle and outputting a corresponding ranging signal.

(B) calculating a collision time of the vehicle and the surrounding obstacle according to the vehicle speed signal and the ranging signal.

(C) Control when the collision time is not more than one braking time An electronic parking unit controls the braking function of the vehicle.

The utility model has the advantages that: by setting the electronic parking unit and the vehicle speed sensing unit and the distance sensing unit, the driver can be distracted or encounter an emergency in a low-speed reverse or parking situation. Brake assisted to avoid vehicle collisions, and can reduce system setup costs and reduce system control complexity.

2‧‧‧Speed sensing unit

3‧‧‧Ranging sensing unit

4‧‧‧Electronic parking unit

5‧‧‧Warning unit

6‧‧‧Control unit

a _c ‧‧‧ long axis of vehicle movement area

b _c ‧‧‧ Vehicle moving area short axis

a _b ‧‧‧ obstacle moving area long axis

b _b ‧‧‧ obstacle moving area short axis

t ₀ ~ t ₃ ‧‧‧ time point

71~74‧‧‧Steps

8‧‧‧ obstacles

9‧‧‧ Vehicles

Other features and advantages of the present invention will be apparent from the embodiments of the present invention. FIG. 1 is a block diagram of a preferred embodiment of the vehicle collision avoidance system of the present invention; FIG. 2 is a schematic view illustrating A vehicle moving area and an obstacle moving area calculated in the preferred embodiment; FIG. 3 is a schematic diagram illustrating the time when the warning signal and the automatic braking are outputted by the preferred embodiment; FIG. 4 is a schematic diagram illustrating The moving area of the vehicle calculated by a control unit of the preferred embodiment varies with the path of the vehicle movement; FIG. 5 is a schematic diagram illustrating a scenario to which the preferred embodiment is applied; and FIG. 6 is a vehicle protection of the present invention. One of the methods of collision.

1 and 2, a preferred embodiment of the vehicle collision avoidance system of the present invention is suitable for being disposed in a vehicle 9, the vehicle collision avoidance system comprising: a vehicle speed The sensing unit 2, a ranging sensing unit 3, an electronic parking brake unit 4 (abbreviated as EPB), a warning unit 5, and a control unit 6.

The vehicle speed sensing unit 2 is configured to sense the speed of the vehicle 9 and output a corresponding vehicle speed signal.

The ranging sensing unit 3 is configured to sense a correlation distance between the obstacle 8 and the vehicle 9 around the vehicle 9 and output a corresponding ranging signal, and the ranging sensing unit 3 can use a radar (Radar) or a light ( Light Detection And Ranging (abbreviated as LiDAR, also known as airborne laser ranging technology) is implemented, but it can also be other techniques that can sense the distance of objects, and is not limited to this.

The electronic parking unit 4 is configured to receive a control signal and control the braking function of the vehicle 9 according to the control signal.

Referring to FIG. 1 , FIG. 2 and FIG. 3 , the control unit 6 is electrically connected to the vehicle speed sensing unit 2 , the distance measuring unit 3 , the electronic parking unit 4 , and the warning unit 5 , respectively, and receives the vehicle speed. a signal, the ranging signal, and calculating a collision time of the vehicle 9 and the surrounding obstacle 8 according to the vehicle speed signal and the ranging signal, and outputting the control signal to control the collision time when the collision time is not more than a braking time The brake function of the vehicle 9.

In the embodiment, the control unit 6 controls the warning unit 5 to output a warning signal to alert the driver to the collision when the collision time is not greater than the sum of the braking time and the warning time and is greater than the braking time. When the time is not greater than the braking time, the control signal is output for automatic braking, but the collision time may not be greater than the braking time and the warning. The warning unit 5 continuously controls the warning unit 5 to output the warning signal to remind the driver of the time, and is not limited thereto.

The braking time can be calculated according to the vehicle speed corresponding to the vehicle speed signal and the vehicle deceleration of the vehicle 9, and the formula is as follows:

Where v _{c is} the vehicle speed corresponding to the vehicle speed signal, a _m is the vehicle deceleration, and the formula of the distance traveled by the vehicle 9 at the braking time is:

Among them, t_delay is the brake delay time.

Referring to FIG. 1 and FIG. 2, in the embodiment, the control unit 6 applies an ellipse formula and calculates a vehicle moving area according to the vehicle speed signal, and the formula is as follows:

a _c = v _c t (Equation 4)

b _c = W _c (Equation 5)

Where x _c and y _c are the outer edge coordinates of the moving area of the vehicle, h _c , k _c are the central coordinates of the moving area of the vehicle, a _c is the long axis of the ellipse, b _c is the short axis of the ellipse, and v _{c is} the speed signal of the vehicle The corresponding vehicle speed, t is a predetermined time, and W _{c is} the width of the vehicle 9.

In FIG. 2, the obstacle 8 is illustrated by a moving human body. When the obstacle 8 corresponding to the ranging signal is in a moving state, the control unit 6 applies an ellipse formula and calculates an obstacle moving area according to the ranging signal. The formula is as follows:

a _b = v _b t (Equation 7)

b _b = W _b (Equation 8)

Where x _b and y _b are the outer edge coordinates of the obstacle moving region, h _b , k _b are the central coordinates of the obstacle moving region, a _b is the ellipse long axis, b _b is the elliptical short axis, and v _{b is} the measurement The obstacle 8 corresponding to the signal moves at a speed, t is a predetermined time, and W _{b is} the width of the obstacle 8.

The control unit 6 calculates whether the vehicle 9 will collide with the obstacle 8 based on the vehicle moving area and the obstacle moving area, and calculates the collision time. The formula for calculating whether the vehicle 9 will collide with the obstacle 8 is as follows:

When m is not more than 1, it means that the elliptical outer frame of the moving area of the vehicle and the moving area of the obstacle will intersect, that is, the vehicle 9 will collide with the obstacle 8.

Referring to FIG. 1 and FIG. 4, when the vehicle 9 performs steering, the vehicle moving area calculated by the control unit 6 also changes with the path of the vehicle 9 moving, and the vehicle 9 is reversed and reversed as shown in FIG. The three possible paths of the right bend and the reverse left bend are indicated by the ellipse area respectively indicating the obstacle 8, the obstacle moving area of the vehicle 9 at time t ₀ ~ t ₃ and the vehicle moving area, wherein the vehicle 9 is in the path of reversing The formula is as follows:

Where x _r and y _r are the coordinates of the vehicle 9 as a function of time, x _{r 0} and y _{r 0} are the initial coordinates of the vehicle 9 , and V _L and V _R are the left rear wheel and the right rear wheel of the vehicle 9, respectively. speed, △ T is the sampling time, θ for the steering angle of the vehicle 9.

Referring to FIG. 1 , FIG. 3 and FIG. 4 , when the driver performs parking or reverses, the control unit 6 calculates the position of the obstacle 8 around the vehicle 9 according to the ranging signal output by the ranging sensing unit 3, when the obstacle is When the object 8 is in the moving state, the obstacle moving area is calculated, and the vehicle moving area is calculated according to the turning angle of the vehicle 9 and the vehicle speed signal output by the vehicle speed sensing unit 2, and the vehicle 9 and the obstacle are determined. 8 Whether there will be a collision, a collision will occur after a few seconds, and the braking time required according to the current speed, as shown in Figures 3 and 4, if the initial time point is t ₀ and the control unit 6 is based on the vehicle 9 and the distance to the obstacle 8, the speed of the vehicle 9, the speed determination if the obstacle 8 9 Length reverse left turn of the vehicle, at the time point t ₃ of the collision may be generated, the control unit 6 in time The point t ₁ starts to control the warning unit 5 to output the warning signal to remind the driver that the control unit 6 is in time if the driver has not changed the direction of the vehicle 9 or stepped on the vehicle, and the possibility of collision is not eliminated. Point t ₂ starts from The brake motor outputs the control signal to enable the electronic parking unit 4 to control the braking function of the vehicle 9, so that driving safety can be maintained even in driving distraction or emergency situations.

Referring to FIG. 5, a schematic diagram of a situation applicable to the present embodiment can be seen. As can be seen from FIG. 5, the present embodiment can be applied to avoid a collision situation whether it is parallel parking, reverse storage, or reverse travel.

Through the above description, the advantages of this embodiment can be summarized as follows:

1. By setting the electronic parking unit 4 and the vehicle speed sensing unit 2, the distance sensing unit 3, the speed of the vehicle 9 itself can be sensed, and the position and state of the obstacle 8 around the vehicle 9 can be sensed. Under low-speed reverse or parking conditions, when driving distraction or emergency, alert the driver, provide brake assist function, or perform braking action to effectively avoid the collision of the vehicle 9 and the electronic parking unit 4 For the current popularization of the vehicle 9, by using the electronic parking unit 4 to provide the brake assist function for pre-catching or providing partial braking, the hydraulic brake control system or electronic stability is compared with the prior art. The system reduces system setup costs and reduces system control complexity.

2. In the extended application, the embodiment can be integrated with the automatic parking system and the parking assist system to achieve a more complete function, or can be combined with an Autonomous Emergency Braking (abbreviated as AEB) to further improve driving safety. Potential advantages in marketing.

Referring to Figures 1 and 6, a preferred embodiment of the vehicle collision avoidance method of the present invention is applied to the above-described vehicle collision avoidance system, the method comprising the following steps:

Step 71: Sense the vehicle speed and output a vehicle speed signal, sense the relevant distance between the obstacle 8 and the vehicle 9 of the vehicle 9 and output a corresponding ranging signal.

Step 72: Calculate a collision time of the vehicle 9 and the surrounding obstacle 8 according to the vehicle speed signal and the ranging signal.

Step 73: Output a warning signal when the collision time is not greater than the sum of the braking time and the warning time.

Step 74: When the collision time is not more than one braking time, an electronic parking unit 4 is controlled to control the braking function of the vehicle 9.

In summary, the present embodiment can not only effectively avoid the collision phenomenon of the vehicle 9, reduce the system installation cost, reduce the complexity of the system control, and has the potential advantage in marketing, so the object of the present invention can be achieved.

The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, that is, the simple equivalent changes and modifications made by the patent application scope and patent specification content of the present invention, All remain within the scope of the invention patent.

2‧‧‧Speed sensing unit

3‧‧‧Ranging sensing unit

4‧‧‧Electronic parking unit

5‧‧‧Warning unit

6‧‧‧Control unit

Claims (14)

A vehicle collision avoidance system is provided for being disposed in a vehicle, the vehicle collision avoidance system comprising: a vehicle speed sensing unit for sensing the speed of the vehicle and outputting a corresponding vehicle speed signal; a distance sensing unit, The utility model is configured to sense a distance between the obstacle and the vehicle and output a corresponding ranging signal; an electronic parking unit for receiving a control signal and controlling the braking function of the vehicle according to the control signal; The control unit is electrically connected to the vehicle speed sensing unit, the distance sensing unit, and the electronic parking unit, respectively receiving the vehicle speed signal and the distance measuring signal, and calculating according to the vehicle speed signal and the distance measuring signal The control signal is output when the vehicle collides with a surrounding obstacle and when the collision time is not more than one braking time. The vehicle collision avoidance system of claim 1, further comprising a warning unit electrically connected to the control unit, wherein the control unit controls the output of the warning unit when the collision time is not greater than a sum of the braking time and a warning time Warning signal. The vehicle collision avoidance system of claim 2, wherein the control unit calculates an elliptical vehicle moving area according to the vehicle speed signal, and the formula is as follows: a _c = v _c t , b _c = W _c , where x _c , y _c are the outer edge coordinates of the moving region of the vehicle, h _c , k _c are the central coordinates of the moving region of the vehicle, and a _c is the long axis of the ellipse, b _c is the elliptical short axis, v _{c is} the vehicle speed corresponding to the vehicle speed signal, t is a predetermined time, and W _{c is} the width of the vehicle. The vehicle collision avoidance system of claim 3, wherein, when the obstacle corresponding to the ranging signal is in a moving state, the control unit calculates an elliptical obstacle moving area according to the ranging signal, and the formula is as follows: a _b = v _b t , b _b = W _b , where x _b , y _b are the outer edge coordinates of the obstacle moving region, h _b , k _b are the central coordinates of the obstacle moving region, and a _b is the ellipse long axis , b _b is the short axis of the ellipse, v _{b is} the moving speed of the obstacle corresponding to the ranging signal, t is a predetermined time, and W _{b is} the width of the obstacle. The vehicle collision avoidance system of claim 4, wherein the control unit calculates whether the vehicle will collide with the obstacle according to the vehicle moving area and the obstacle moving area, and calculates the collision time to calculate whether the vehicle collides. The formula for this obstacle is as follows: When m is not greater than 1, it is judged that the vehicle will collide with the obstacle. The vehicle collision avoidance system of claim 5, wherein the vehicle moving area calculated by the control unit changes according to the path of the vehicle moving, and the path formula of the vehicle when reversing is as follows: Where x _r and y _r are vehicle coordinates as a function of time, x _{r 0} and y _{r 0} are initial vehicle coordinates, and V _L and V _R are the wheel speeds of the left rear wheel and the right rear wheel of the vehicle, respectively. T is the sampling time and θ is the steering angle of the vehicle. The vehicle collision avoidance system of claim 6, wherein the formula of the distance traveled by the vehicle during the braking time is: Among them, a _m is the brake deceleration, and t_delay is the brake actuation delay time. A vehicle collision avoidance method includes the following steps: (A) sensing a vehicle speed and outputting a vehicle speed signal, sensing a correlation distance between an obstacle and a vehicle around the vehicle, and outputting a corresponding ranging signal; (B) according to the The vehicle speed signal, the ranging signal calculates a collision time of the vehicle and the surrounding obstacle; and (C) controls the electronic parking unit to control the braking function of the vehicle when the collision time is not more than one braking time. The vehicle collision avoidance method according to claim 8, further comprising the following steps: (D) outputting a warning signal when the collision time is not greater than a sum of the braking time and a warning time. The vehicle collision avoidance method according to claim 9, wherein in step (B), an elliptical vehicle moving area is calculated according to the vehicle speed signal, and the formula is as follows: a _c = v _c t , b _c = W _c , where x _c , y _c are the outer edge coordinates of the moving region of the vehicle, h _c , k _c are the central coordinates of the moving region of the vehicle, a _c is the long axis of the ellipse, b _c is the elliptical short axis, v _{c is} the vehicle speed corresponding to the vehicle speed signal, t is a predetermined time, and W _{c is} the width of the vehicle. The vehicle collision avoidance method according to claim 10, wherein in the step (B), when the obstacle corresponding to the ranging signal is in a moving state, an elliptical obstacle moving region is calculated according to the ranging signal. , the formula is as follows: a _b = v _b t , b _b = W _b , where x _b , y _b are the outer edge coordinates of the obstacle moving region, h _b , k _b are the central coordinates of the obstacle moving region, and a _b is the ellipse long axis , b _b is the short axis of the ellipse, v _{b is} the moving speed of the obstacle corresponding to the ranging signal, t is a predetermined time, and W _{b is} the width of the obstacle. The vehicle collision avoidance method according to claim 11, wherein in the step (B), the vehicle is moved according to the vehicle moving area and the obstacle moving area to calculate whether the vehicle will collide with the obstacle, and the collision time is calculated, and the operation is performed. The formula for whether the vehicle will collide with the obstacle is as follows: When m is not greater than 1, it is judged that the vehicle will collide with the obstacle. The vehicle collision avoidance method according to claim 12, wherein in the step (B), the calculated vehicle movement area changes according to the path of the vehicle movement, and the path formula of the vehicle when reversing is as follows: Where x _r and y _r are the coordinates of the vehicle as a function of time, x _{r 0} and y _{r 0} are the initial coordinates of the vehicle, and V _L and V _R are the wheel speeds of the left rear wheel and the right rear wheel of the vehicle, respectively. T is the sampling time and θ is the steering angle of the vehicle. The vehicle collision avoidance method according to claim 13, wherein in the step (C), the formula of the distance traveled by the vehicle at the braking time is: Among them, a _m is the brake deceleration, and t_delay is the brake actuation delay time.