WO2018076558A1 - Procédé et système de conduite - Google Patents

Procédé et système de conduite Download PDF

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Publication number
WO2018076558A1
WO2018076558A1 PCT/CN2017/071868 CN2017071868W WO2018076558A1 WO 2018076558 A1 WO2018076558 A1 WO 2018076558A1 CN 2017071868 W CN2017071868 W CN 2017071868W WO 2018076558 A1 WO2018076558 A1 WO 2018076558A1
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WO
WIPO (PCT)
Prior art keywords
relative
current vehicle
vehicle
preceding vehicles
speed
Prior art date
Application number
PCT/CN2017/071868
Other languages
English (en)
Chinese (zh)
Inventor
刘均
刘新
宋朝忠
欧阳张鹏
Original Assignee
深圳市元征科技股份有限公司
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Publication of WO2018076558A1 publication Critical patent/WO2018076558A1/fr

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Classifications

    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • 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
    • 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
    • B60W2050/146—Display 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2554/00—Input parameters relating to objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed

Definitions

  • the present invention relates to the field of vehicle technology, and in particular, to a driving method and system.
  • the main object of the present invention is to provide a driving method and system, aiming at accurately monitoring the current road condition where the current vehicle is located, so as to reduce the line of sight of the current vehicle and improve driving safety.
  • the present invention provides a driving method, and the driving method comprises the following steps:
  • each of the preceding vehicles detected by the current vehicle onboard radar relative to the current vehicle and a first relative speed, wherein each of the preceding vehicles is a vehicle on the traveling road where the current vehicle is currently at the current time;
  • the step of outputting the first relative distance between the current vehicle and each of the preceding vehicles relative to the current vehicle and the first relative speed includes:
  • the first position information of the current vehicle, the first relative distance of each of the preceding vehicles, the first relative speed, and the second position information are displayed on the terminal interface according to a preset display ratio.
  • the driving method further comprises:
  • an alarm signal is output to prompt the user to control the current vehicle to decelerate.
  • the driving method comprises:
  • the present invention also provides a driving method, the driving method comprising the following steps:
  • each of the preceding vehicles detected by the current vehicle onboard radar relative to the current vehicle and a first relative speed, wherein each of the preceding vehicles is a vehicle on the traveling road where the current vehicle is currently at the current time;
  • the first prompt message is output to prompt the user not to overtake.
  • the step of acquiring the first relative spacing of each of the preceding vehicles detected by the onboard radar relative to the current vehicle and the first relative speed further comprises:
  • the safe following speed is output, the first relative distance of each of the preceding vehicles relative to the current vehicle, and the first relative speed.
  • the driving method further comprises:
  • an alarm signal is output to prompt the user to control the current vehicle to decelerate.
  • the step of outputting the first relative distance between the current vehicle and each of the preceding vehicles relative to the current vehicle and the first relative speed comprises:
  • the first position information of the current vehicle, the first relative distance of each of the preceding vehicles, the first relative speed, and the second position information are displayed on the terminal interface according to a preset display ratio.
  • the driving method comprises:
  • the present invention also provides a driving system, including:
  • An acquiring module configured to acquire a first relative distance of each of the preceding vehicles detected by the current vehicle onboard radar relative to the current vehicle, and a first relative speed, wherein each of the preceding vehicles is a vehicle on the traveling road where the current vehicle is located at the current time;
  • a first calculating module configured to calculate a second relative spacing between each of the preceding vehicles according to a first relative distance of each of the preceding vehicles relative to the current vehicle when the overtaking command is detected;
  • a first judging module configured to determine whether there is a second vehicle that meets a preset overtaking distance in the second relative spacing between the respective preceding vehicles, wherein the current vehicle is in the same lane as the second vehicle;
  • a first output module configured to: if there is a second vehicle that meets a preset overtaking distance among the second relative distances between the front vehicles, the first relative spacing corresponding to the second vehicle and the first relative corresponding to the second vehicle The speed calculates a safe overtaking speed of the current vehicle, and outputs a safe overtaking speed, a second relative spacing, a first relative spacing of the current vehicle to each of the preceding vehicles, and a first relative speed;
  • the second output module is configured to output the first prompt information to prompt the user not to overtake if the second vehicle that meets the preset overtaking distance does not exist in the second relative spacing between the preceding vehicles.
  • the driving system further comprises:
  • a second determining module configured to determine, when the following command is detected, whether the first relative distance between the current vehicle and the third vehicle closest to each of the preceding vehicles is within a preset following distance interval, wherein the third vehicle is The current vehicle is in the same lane;
  • a second calculating module configured to acquire a driving speed of the current vehicle when the first relative distance of the third vehicle relative to the current vehicle is not within the preset following distance interval, and according to the first relative spacing of the third vehicle relative to the current vehicle And the current vehicle speed, calculating the safe follow-up speed of the current vehicle;
  • a third output module configured to output a safe following speed, a first relative spacing of each of the preceding vehicles relative to the current vehicle, and a first relative speed.
  • the driving system further comprises:
  • a first determining module configured to determine that the fourth vehicle decelerates driving when the amount of change of the first relative speed of the fourth vehicle relative to the current vehicle in each of the preceding vehicles is greater than a preset threshold, wherein the current vehicle is The fourth vehicle is in the same lane;
  • the alarm module is configured to output an alarm signal to prompt the user to control the current vehicle to decelerate when determining that the fourth vehicle is decelerating.
  • the first output module comprises:
  • a first determining unit configured to determine a direction angle of a pulse wave emitted by the current vehicle to each of the preceding vehicles to return to the vehicle radar, and determine first position information of the current vehicle
  • a second determining unit configured to determine second location information of each of the preceding vehicles according to the first location information of the current vehicle, the first relative spacing of the current vehicle and each of the preceding vehicles, and the direction angle;
  • the display unit is configured to display the first location information of the current vehicle, the first relative spacing of each of the preceding vehicles, the first relative speed, and the second location information on the terminal interface according to a preset display ratio.
  • the driving system further comprises:
  • a second determining module configured to determine that there is a living body roadblock on the road ahead of the current vehicle when detecting that the hot spot corresponding to the infrared signal received by the infrared sensor in the current vehicle meets the preset vital body hotspot;
  • a display module configured to acquire a second relative spacing of the living body roadblock existing on the road ahead detected by the onboard vehicle radar and a second relative speed, and a third relative spacing of the living body roadblock relative to the current vehicle and the second Relative speed is displayed on the terminal interface.
  • the present invention detects the first relative spacing of each of the preceding vehicles relative to the current vehicle and the first relative speed by the current vehicle-mounted radar, and when the overtaking command is detected, calculates the safe overtaking speed of the current vehicle according to the first relative spacing and the first relative speed. And outputting the safe overtaking speed by voice, and outputting a safe overtaking speed, a second relative spacing, a first relative spacing between the current vehicle and each of the preceding vehicles, and a first relative speed, so that the current vehicle can be accurately monitored during the overtaking process.
  • the driving condition of the vehicle ahead on the road thereby avoiding the obstruction of the vehicle in front of the current vehicle, and providing a reference for the user by calculating and outputting the safe overtaking speed to ensure that the user can safely overtake, thereby improving driving safety.
  • FIG. 1 is a schematic flow chart of a first embodiment of a driving method of the present invention
  • FIG. 2 is a schematic diagram of a scenario for displaying vehicle information on a terminal interface according to the present invention
  • FIG. 3 is a schematic diagram of functional modules of a first embodiment of a driving system of the present invention.
  • the present invention provides a driving method.
  • FIG. 1 is a schematic flow chart of a first embodiment of a driving method according to the present invention.
  • the driving method includes:
  • Step S01 acquiring a first relative distance of each of the preceding vehicles detected by the current vehicle onboard radar with respect to the current vehicle and a first relative speed, wherein each of the preceding vehicles is a vehicle on the traveling road where the current vehicle is located at the current time;
  • the current vehicle is a vehicle that the current user is driving, and the current vehicle is configured with an in-vehicle radar and an in-vehicle terminal, and when detecting a current condition monitoring instruction triggered by the current user, opening the road condition monitoring application on the vehicle-mounted terminal or opening a road condition monitoring application on the mobile terminal associated with the current vehicle, controlling the road condition monitoring application to acquire first position information of the current vehicle, the position information is determined by the GPS positioning system in the current vehicle, and acquiring the onboard radar detection The first relative spacing of each of the preceding vehicles to the current vehicle and the first relative speed.
  • each of the preceding vehicles is a vehicle on a driving road where the current vehicle is located at the current time, and each of the preceding vehicles is all vehicles within a preset range in front of the driving road where the current time is located, but the preset range is not fixed.
  • the preset range of the city street or the main road is smaller than the preset range of the expressway or the intercity highway. For example, if the current vehicle is multi-lane and the current vehicle is determined to travel on the city street by the position information, the front of each lane is acquired 500m.
  • the vehicle-mounted radar may be a Doppler radar.
  • the Doppler radar transmits a pulse wave of a fixed frequency for scanning, if an active target (each vehicle or obstacle) is encountered, the frequency of the echo is The frequency difference of the frequency of the transmitted wave is called the Doppler frequency.
  • the Doppler frequency the relative motion speed of the target to the radar can be measured. That is, the vehicle radar calculates the first relative speed of each preceding vehicle relative to the current vehicle.
  • the distance between the current vehicle and the target can be measured, that is, the onboard radar calculates the first relative distance of each preceding vehicle with respect to the current vehicle.
  • the Doppler frequency spectrum of the target is detected by the frequency filtering method, and the spectral line of the interference clutter is filtered out, so that the radar can distinguish the target signal from the strong clutter, so the Doppler radar is more resistant to clutter than the ordinary radar. Strong ability to detect moving targets hidden in the background, and monitoring traffic information through Doppler radar can reduce costs.
  • Step S02 when detecting the overtaking command, calculating a second relative spacing between each of the preceding vehicles according to a first relative distance of each of the preceding vehicles with respect to the current vehicle;
  • the overtaking command is manually triggered, or when the current vehicle is detected to change to the left, the overtaking command is automatically triggered.
  • the second relative spacing between each of the preceding vehicles is calculated according to the first relative distance of each of the preceding vehicles relative to the current vehicle, for example, if there are A, B, C, D in front of the preceding vehicle
  • the first relative distance between the A car and the current vehicle is 40m
  • the first relative distance between the B car and the current vehicle is 100m
  • the first relative distance between the C car and the current vehicle is 180m.
  • the first relative spacing between the m, D and the current vehicle is 250m
  • the second relative spacing between the A and the B is 100m minus 40m is equal to 60m
  • the second relative spacing between the B and the C is 180.
  • m minus 100m is equal to 80m
  • the second relative spacing between the C and D vehicles is 250m minus 180m equals 70m.
  • the current user needs to follow the traffic rules when driving the current vehicle. For example, if the front vehicle is turning, driving, or overtaking in the lane where the current vehicle is located, the current vehicle may not overtake.
  • Step S03 determining whether there is a second vehicle that meets the preset overtaking distance among the second relative intervals between the respective preceding vehicles;
  • Step S04 if yes, calculating a safe overtaking speed of the current vehicle according to the first relative spacing corresponding to the second vehicle and the first relative speed corresponding to the second vehicle, and outputting the safe overtaking speed, the second relative spacing, the current vehicle and each front a first relative spacing of the vehicle and a first relative speed;
  • the safe overtaking speed of the current vehicle is the first relative speed of the second vehicle relative to the current vehicle, a first relative distance of the second vehicle relative to the current vehicle, thereby calculating a safe overtaking speed of the current vehicle over the second vehicle, the safe overtaking speed being greater than a first relative vehicle speed of the second vehicle relative to the current vehicle, the preset overtaking time Is the optimal overtaking time obtained by the inventor through trial and error, the preset overtaking time Contains a relatively scientific overtaking buffer time for the current user to overtake.
  • the vehicle with the smallest relative spacing of the current vehicle is determined as the second vehicle; the preset overtaking The spacing is not fixed, but varies according to the road area (the road area can be urban streets, trunk roads, highways, intercity highways, etc.) that the current vehicle is traveling. If the current vehicle is driving on a city street, then The preset overtaking distance is less than the preset overtaking distance of the current vehicle traveling on the highway.
  • the voice output safety overtaking speed is used to prompt the user to overtake according to the safe overtaking speed, and when the current vehicle overtakes the vehicle, the voice prompt information is also outputted to prompt the user to make a line (change) Preparing to ensure overtaking safety, and displaying the first relative spacing of each of the preceding vehicles relative to the current vehicle, the first relative speed of each of the preceding vehicles relative to the current vehicle, and the second relative spacing between the preceding vehicles on the terminal interface to It can be viewed by users, thus reducing the line of sight of the current vehicle, thus ensuring driving safety.
  • the current vehicle can be associated with the mobile terminal via Bluetooth, Wi-Fi or a wireless network card.
  • Step S05 if no, the first prompt information is output to prompt the user not to overtake.
  • a prompt message is output to prompt the user not to overtake.
  • the first relative distance of each of the preceding vehicles relative to the current vehicle and the first relative speed are detected by the current vehicle-mounted radar, and when the overtaking command is detected, the safe overtaking of the current vehicle is calculated according to the first relative spacing and the first relative speed.
  • Speed and output the safe overtaking speed by voice and output a safe overtaking speed, a second relative spacing, a first relative spacing between the current vehicle and each of the preceding vehicles, and a first relative speed, enabling accurate monitoring of the current vehicle during the overtaking process
  • the driving condition of the vehicle ahead on the road thereby avoiding the obstruction of the vehicle in front of the current vehicle, and providing a reference for the user by calculating and outputting the safe overtaking speed to ensure that the user can safely overtake, thereby improving driving safety.
  • the present invention provides a second embodiment of the driving method.
  • the driving method further includes:
  • the safe following speed is output, the first relative distance of each of the preceding vehicles relative to the current vehicle, and the first relative speed.
  • the current user can trigger a follow-up command, and when detecting the following user-triggered follow-up command, judge Whether the first relative distance between the current vehicle and the third vehicle closest to each of the preceding vehicles is within a preset following distance interval.
  • the third vehicle is in the same lane as the current vehicle; the preset following distance in the preset following distance interval is not fixed, but according to the road area where the current vehicle is traveling (the road area may be a city street, a trunk road, Changes in highways, intercity highways, etc., such as the current vehicle traveling in a city street, then the preset car-to-car spacing is less than the preset car-to-car spacing of the current vehicle on the highway.
  • the safety follow-up speed of the current vehicle is the preset following time, a first relative distance of the third vehicle relative to the current vehicle, thereby calculating a safe following speed of the current vehicle, the preset following time being the best following time obtained by the inventor through trial and error, the preset following Car time Including the current user has a relatively scientific emergency buffer time when overtaking.
  • the safe following speed is output by voice, and the first relative distance of each of the preceding vehicles with respect to the current vehicle and the first relative speed are displayed on the terminal interface.
  • the following command when the following command is detected, it is determined whether the first relative distance between the current vehicle and the third vehicle closest to each of the preceding vehicles is within a preset following distance interval, when the third vehicle is relative to the current vehicle.
  • a relative spacing is not within the preset following distance interval, obtaining the driving speed of the current vehicle, and calculating the safe following speed of the current vehicle according to the first relative spacing of the third vehicle relative to the current vehicle and the driving speed of the current vehicle.
  • the safe following speed is output, the first relative distance of each of the preceding vehicles relative to the current vehicle, and the first relative speed.
  • the first relative distance of each of the preceding vehicles relative to the current vehicle and the first relative speed are output, it is possible to accurately monitor the driving condition of the vehicle ahead on the road where the current vehicle is located during the following process, thereby avoiding the vehicle in front of the current vehicle.
  • the line of sight is obstructed, and by calculating and outputting the safe following speed, the user is provided with a reference to ensure the user's follow-up safety, instead of merely controlling the current vehicle's following speed through the user's experience, thereby improving driving safety.
  • the present invention proposes a third embodiment of the driving method, in which the output safety following speed, the first relative distance of each preceding vehicle relative to the current vehicle, and After the first relative speed step, the driving method further includes:
  • an alarm signal is output to prompt the user to control the current vehicle to decelerate.
  • the fourth vehicle is any one of the preceding vehicles.
  • determining whether the amount of change of the first relative speed of the fourth vehicle relative to the current vehicle in the unit time is greater than a preset threshold, and determining the first relative speed of the fourth vehicle relative to the current vehicle within the unit time The amount of change is greater than the preset threshold, indicating that the fourth vehicle suddenly decelerates or suddenly stops driving, and an alarm signal is output to prompt the user to control the current vehicle to decelerate.
  • determining that the fourth vehicle decelerates traveling when determining that the fourth vehicle is decelerating traveling , output an alarm signal to prompt the user to control the current vehicle to slow down.
  • the front vehicle of the current vehicle is a large vehicle, the current vehicle will be obstructed by the line of sight.
  • this embodiment passes Real-time detecting whether the amount of change of the first relative speed of the fourth vehicle relative to the current vehicle in each of the preceding vehicles in the unit time is greater than a preset threshold to determine whether the fourth vehicle is decelerating, and outputting an alarm when determining that the fourth vehicle is decelerating.
  • the signal prompts the user to control the current vehicle to slow down and avoid traffic accidents.
  • the outputting the first relative spacing of each of the preceding vehicles relative to the current vehicle and the first relative speed comprises:
  • the Doppler radar transmits a pulse wave of a fixed frequency for scanning
  • an active target each preceding vehicle or obstacle
  • the active target returns to the current vehicle based on the pulse wave.
  • a pulse wave taking the current vehicle as the coordinate origin, and making a plane coordinate system, the current vehicle's traveling direction is the y-axis direction, and calculating the angle between the pulse wave returned to the current vehicle and the y-axis of each preceding vehicle, thereby determining the current vehicle.
  • the direction angle of the pulse wave emitted by each of the preceding vehicles to the onboard radar is received. And determine the first location information of the current vehicle.
  • the first position information of the current vehicle, the first relative distance of each of the preceding vehicles, the first relative speed, and the second position information are displayed on the terminal interface according to a preset display ratio.
  • the first position information of the current vehicle A is (10, 20)
  • the first relative distance between the current vehicle and the preceding vehicle B is 50 m, and the angle between the current vehicle and the preceding vehicle B is 45°, then the second position information (45, 55) of the preceding vehicle B can be calculated;
  • the current vehicle and the front The first relative distance of the vehicle C is 20m, and the angle between the current vehicle and the preceding vehicle C is 0°, then the second position information of the preceding vehicle C can be calculated as (10, 40); the current vehicle and the front vehicle D
  • the second position information of the preceding vehicle D can be calculated as (10, 60).
  • the first position information of the current vehicle, the first relative distance of the respective preceding vehicles with respect to the current vehicle, the first relative speed of each of the preceding vehicles with respect to the current vehicle, the second relative spacing between the respective preceding vehicles, and the second position information are
  • the preset display ratio (such as 1:1) is reduced, displayed on the mobile terminal interface associated with the current vehicle, or displayed on the vehicle terminal interface, for example, in conjunction with FIG. 2, the current vehicle A, each of the preceding vehicles B, C D is displayed on the mobile terminal interface in the form of a red origin, and each red origin is marked with a corresponding first relative spacing and a first relative velocity, and a corresponding second relative spacing between the red origins is displayed on the mobile On the terminal interface.
  • the current vehicle by determining that the current vehicle receives the direction angle of the pulse wave emitted by each of the preceding vehicles and returning to the vehicle radar, and determining the first position information of the current vehicle, according to the first position information of the current vehicle, the current vehicle and each of the preceding vehicles. Determining, according to a relative spacing and a direction angle, second position information of each of the preceding vehicles, the first position information of the current vehicle, the first relative spacing of each of the preceding vehicles, the first relative speed, and the second position information according to a preset display ratio, Displayed on the terminal interface for easy viewing by the user to avoid the obstruction of the vehicle in front of the vehicle.
  • the present invention provides a fourth embodiment of the driving method.
  • the alarm signal is output to prompt the user.
  • the driving method further includes:
  • the living body roadblock includes pedestrians and animals. After opening the road condition monitoring application on the vehicle terminal or opening the road condition monitoring application on the mobile terminal associated with the current vehicle, controlling the road condition monitoring application to acquire the infrared signal received by the infrared sensor in the current vehicle, and analyzing the hot spot corresponding to each infrared signal Is there an infrared signal that satisfies the preset hotspot of the living body? When it is determined that there is an infrared signal that satisfies the preset hot spot of the living body, it is determined that there is a living body roadblock on the road ahead of the current vehicle, and the current road vehicle is detected on the road ahead.
  • the living body roadblock is displayed on the mobile terminal in the form of a green origin (which is easily distinguished from the red origin of each preceding vehicle), and the third relative spacing of the living body roadblock relative to the current vehicle and the second relative speed are marked in green. On the origin.
  • the hot spot corresponding to the infrared signal received by the infrared sensor in the current vehicle satisfies the preset hotspot of the living body
  • the second relative spacing of the living body roadblock relative to the current vehicle and the second relative speed, and displaying the third relative spacing of the living body roadblock relative to the current vehicle and the second relative speed on the terminal interface for the user to view enabling Real-time monitoring of road conditions on the road where the current vehicle is located, reducing the line of sight of the current vehicle and improving driving safety.
  • the invention further provides a driving system.
  • FIG. 3 is a schematic diagram of functional modules of a first embodiment of a driving system of the present invention.
  • the driving system includes: an obtaining module 01, a first calculating module 02, a first determining module 03, a first output module 04, and a second output module 05.
  • the acquiring module 01 is configured to acquire a first relative distance of each of the preceding vehicles detected by the current vehicle-mounted radar relative to the current vehicle and a first relative speed, where each of the preceding vehicles is on a traveling road where the current vehicle is located at the current time. vehicle;
  • the first calculating module 02 is configured to calculate, according to the first relative spacing of each of the preceding vehicles relative to the current vehicle, a second relative spacing between the preceding vehicles when the overtaking command is detected;
  • the first determining module 03 is configured to determine whether there is a second vehicle that meets a preset overtaking distance among the second relative intervals between the respective front vehicles;
  • the first output module 04 is configured to: if there is a second vehicle that meets a preset overtaking distance among the second relative distances between the respective front vehicles, according to the first relative spacing corresponding to the second vehicle and the second vehicle corresponding to the second vehicle Calculating a safe overtaking speed of the current vehicle by the first relative speed, and outputting a safe overtaking speed, a second relative spacing, a first relative spacing of the current vehicle and each of the preceding vehicles, and a first relative speed;
  • the second output module 05 is configured to output a first prompt message to prompt the user not to overtake if the second vehicle that meets the preset overtaking distance does not exist in the second relative spacing between the preceding vehicles.
  • the first embodiment of the driving system of the present invention corresponds to the first embodiment of the driving method, and details are not described herein again.
  • the first relative distance of each of the preceding vehicles relative to the current vehicle and the first relative speed are detected by the current vehicle-mounted radar, and when the overtaking command is detected, the safe overtaking of the current vehicle is calculated according to the first relative spacing and the first relative speed.
  • Speed and output the safe overtaking speed by voice and output a safe overtaking speed, a second relative spacing, a first relative spacing between the current vehicle and each of the preceding vehicles, and a first relative speed, enabling accurate monitoring of the current vehicle during the overtaking process
  • the driving condition of the vehicle ahead on the road thereby avoiding the obstruction of the vehicle in front of the current vehicle, and providing a reference for the user by calculating and outputting the safe overtaking speed to ensure that the user can safely overtake, thereby improving driving safety.
  • the driving system further includes: a second determining module, a second calculating module, and a third output module.
  • the second determining module is configured to determine, when the following command is detected, whether the first relative distance between the current vehicle and the third vehicle closest to each of the preceding vehicles is within a preset following distance interval, wherein the third The vehicle is in the same lane as the current vehicle;
  • the second calculating module is configured to acquire a driving speed of the current vehicle when the first relative distance of the third vehicle relative to the current vehicle is not within the preset following distance interval, and according to the first vehicle relative to the current vehicle Calculating the safe following speed of the current vehicle based on the relative spacing and the current vehicle speed;
  • the third output module is configured to output a safe following speed, a first relative spacing of each of the preceding vehicles relative to the current vehicle, and a first relative speed.
  • the second embodiment of the driving system of the present invention corresponds to the second embodiment of the driving method, and details are not described herein again.
  • the driving system further includes: a first determining module and an alarm module.
  • the first determining module is configured to determine that the fourth vehicle decelerates traveling when detecting that the amount of change of the first relative speed of the fourth vehicle relative to the current vehicle in each of the preceding vehicles is greater than a preset threshold, wherein the current The vehicle is in the same lane as the fourth vehicle;
  • the alarm module is configured to output an alarm signal to prompt the user to control the current vehicle to decelerate when determining that the fourth vehicle is decelerating.
  • the third embodiment of the driving system of the present invention corresponds to the third embodiment of the driving method, and details are not described herein again.
  • the first output module 04 includes a first determining unit, a second determining unit, and a display unit. .
  • the first determining unit is configured to determine that a current vehicle receives a direction angle of a pulse wave that each front vehicle returns to the vehicle radar, and determines first position information of the current vehicle;
  • the second determining unit is configured to determine second location information of each of the preceding vehicles according to the first location information of the current vehicle, the first relative spacing of the current vehicle and each of the preceding vehicles, and the direction angle;
  • the display unit is configured to display the first location information of the current vehicle, the first relative spacing of each of the preceding vehicles, the first relative speed, and the second location information on the terminal interface according to a preset display ratio.
  • the fourth embodiment of the driving system of the present invention corresponds to the fourth embodiment of the driving method, and details are not described herein again.
  • the driving system further includes: a second determining module and a display module.
  • the second determining module is configured to determine that there is a living body roadblock on the road ahead of the current vehicle when detecting that the hot spot corresponding to the infrared signal received by the infrared sensor in the current vehicle meets the preset vital body hotspot;
  • the display module is configured to acquire a second relative distance and a second relative speed of a living body roadblock existing on a road ahead detected by a vehicle onboard vehicle radar, and a third relative distance of the living body roadblock relative to the current vehicle, and The second relative speed is displayed on the terminal interface.
  • the fifth embodiment of the driving system of the present invention corresponds to the fifth embodiment of the driving method, and details are not described herein again.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Procédé et système de conduite, comportant les étapes consistant à: acquérir une première distance relative et une première vitesse relative par rapport à un véhicule actuel de chaque véhicule à l'avant détecté par un radar embarqué du véhicule actuel (S01); lorsqu'une commande de dépassement est détectée, calculer une deuxième distance relative entre chaque véhicule à l'avant d'après la première distance relative entre chaque véhicule à l'avant et le véhicule actuel (S02); décider si un deuxième véhicule satisfaisant une distance de dépassement prédéterminée est présent dans la deuxième distance relative entre chaque véhicule à l'avant (S03); si c'est le cas, calculer une vitesse de dépassement sûr pour le véhicule actuel d'après la première distance relative correspondant au deuxième véhicule et la première vitesse relative correspondant au deuxième véhicule (S04); si ce n'est pas le cas, émettre une première information d'alerte, de façon à avertir un utilisateur que le dépassement n'est pas possible (S05). Le présent procédé et le présent système de conduite permettent de diminuer une obstruction visuelle d'un véhicule à l'avant envers un véhicule actuel, accroissant la sécurité de conduite.
PCT/CN2017/071868 2016-10-24 2017-01-20 Procédé et système de conduite WO2018076558A1 (fr)

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CN111746394B (zh) * 2019-03-29 2021-12-28 长城汽车股份有限公司 超车安全提示方法及装置
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