CN106004671A - Intersection vehicle anti-collision system and method - Google Patents
Intersection vehicle anti-collision system and method Download PDFInfo
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- CN106004671A CN106004671A CN201610585946.8A CN201610585946A CN106004671A CN 106004671 A CN106004671 A CN 106004671A CN 201610585946 A CN201610585946 A CN 201610585946A CN 106004671 A CN106004671 A CN 106004671A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
- B60R2001/1253—Mirror assemblies combined with other articles, e.g. clocks with cameras, video cameras or video screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8033—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for pedestrian protection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an intersection vehicle anti-collision system and method and relates to the technical field of vehicle safety. The intersection vehicle anti-collision system is used for preventing a vehicle from being collided with vehicles or pedestrians in the lateral front side, and comprises a target object acquisition unit, a central control unit and an executing unit, wherein the target object acquisition unit is used for acquiring information of the vehicles or the pedestrians in the front side and the lateral front side of the vehicle adjacent to an intersection; the central control unit is used for receiving state information of the vehicle and the information of the vehicles or the pedestrians in the front side and the lateral front side of the vehicle, calculating collision risks of the vehicle according to the information above and also controlling the executing unit to prevent the vehicle from collision; and the executing unit is used for reminding a driver of safely driving or/and parking the vehicle. The invention further provides the corresponding method. The intersection vehicle anti-collision system and method can be used for effectively enlarging a detection range of target objects in the front side and the lateral front side of the vehicle and can also be used for effectively protecting the pedestrians.
Description
Technical field
The present invention relates to technical field of vehicle safety, particularly relate to a kind of intersection vehicle collision avoidance system
And collision-proof method.
Background technology
Along with the increase of vehicle population, traffic becomes increasingly complex, particularly in intersection, and vehicle
To the vehicle laterally quickly crossed or quickly through pedestrian can not effectively discover, thus greatly improve
Collision probability between vehicle and between vehicle and pedestrian.
At present, for reducing the probability that above-mentioned accident occurs, vehicle manufacturers is by installing millimeter at vehicle front
Ripple radar detection apparatus, with the object of monitoring round of vehicle, when vehicle has risk of collision, can warn automatically
Show that driver safety is driven a vehicle, thus avoid the generation of collision accident to a certain extent.
But less according to the vehicle front region that said method can detect, thus can not avoid completely and week
Enclose vehicle to collide, simultaneously the method also None-identified laterally across pedestrian so that pedestrian is protected.
Summary of the invention
It is an object of the present invention to provide a kind of intersection vehicle collision avoidance system, this system can not only
Enough expand vehicle front and the investigative range of side target lead object, before also being able to identify vehicle front and side simultaneously
It is also effectively protected by square pedestrian.
The present invention one further objective is that a kind of intersection of offer vehicle collision avoidance method, passes through the party
Method, can not only expand vehicle front and the investigative range of side target lead object, also is able to identify vehicle simultaneously
It is also effectively protected by front and the pedestrian in front, side.
Especially, the invention provides a kind of intersection vehicle collision avoidance system, be used for preventing from car and side
Front vehicles or pedestrian collision, including:
Object collecting unit, for gathering the front of described vehicle and the vehicle in front, side near intersection
With pedestrian information；
Central control unit, is used for receiving the status information of described vehicle and the front of described vehicle and front, side
The information of vehicle and pedestrian, and calculate the risk of collision of described vehicle according to information above, be simultaneously emitted by referring to
Order controls performance element；With
Described performance element, is used for pointing out driver safety to drive a vehicle or/and make described vehicle automatic brake stop avoiding
Described vehicle collides.
Further, described object collecting unit includes radar and photographic head, and wherein, described radar includes
From radar and main radar, they lay respectively at the front, side of described vehicle, for gather described vehicle front,
Side road ahead environmental information and information of vehicles, described photographic head is positioned near described rear-viewing mirror in vehicle and court
To the front of described vehicle, for gathering the front of described vehicle, front, side pedestrian information；
Alternatively, described radar is millimetre-wave radar；
Alternatively, described photographic head is monocular cam.
Further, also including Vehicle Controller LAN, described central control unit is by described vehicle-mounted
Controller local area network receives the status information of described vehicle, simultaneously by described Vehicle Controller LAN
Send information to described performance element.
Further, the status information of described vehicle include steering wheel angle information, speed and wheel speed information,
Brake pedal status information, gas pedal information, longitudinal acceleration information, lateral acceleration information, horizontal stroke
One or more in pivot angle rate information and switching information.
Further, described performance element includes acousto-optic alarm for mineral and Electronics stability program, described acousto-optic
Attention device is used for pointing out driver safety to drive a vehicle, and described Electronics stability program is used for making vehicle automatic emergency
Stop and stop；
Alternatively, described acousto-optic alarm for mineral is alarm lamp and buzzer.
Further, also include man-machine interactive system, be used for pointing out vehicle described in driver promptly stopped stop/
Release automatic brake to stop.
Further, also include self-test unit, be used for whether detecting described intersection vehicle collision avoidance system
Faulty.
Further, described central control unit is positioned at inside described main radar, described photographic head with described from
Radar, described it is connected by privately owned controller local area network respectively with described main radar from radar, described main thunder
Reach the gateway with described vehicle to be connected by common control unit LAN.
Especially, present invention also offers and a kind of be applied to intersection vehicle collision avoidance system described above
Intersection vehicle collision avoidance method, it comprises the steps of:
S100, starts vehicle motor and vehicle is linked into drive shift；
S200, vehicle collision avoidance system start-up, enter self-check program, if described vehicle collision avoidance system does not has
Fault, then enter state of activation；If described vehicle collision avoidance system is faulty, carried by man-machine interactive system
After showing that driver is to overcome described fault, enter state of activation；
S300, receives vehicle and pedestrian information, is received from the status information of car, according to information above meter simultaneously
Calculate the risk of collision of described vehicle, when there being risk of collision, go to S400；When there is no risk of collision, keep
Described vehicle collision avoidance system is active；
S400, controls acousto-optic alarm for mineral and drives a vehicle with prompting driver safety, control electronic stability simultaneously and control journey
Sequence makes vehicle parking.
Further, in S300, described vehicle has the standard of risk of collision to be: the front of described vehicle
Or the vehicles or pedestrians in front, side residence time in the warning region of system calibrating exceedes very first time threshold
Value, meanwhile, two cars or from the time that car and pedestrian will collide less than the second time threshold；
Alternatively, described very first time threshold value is 180ms；
Alternatively, described second time threshold is 3.5s.
Further, after described vehicle is stopped in emergency, described central control unit can issue instructions to man-machine
Interactive system, reminds driver vehicle to press original route traveling danger by the car running computer of described vehicle the most urgent
Stop and stop；Meanwhile, when described central control unit judges that danger releases, can be carried by man-machine interactive system
Showing driver's automatic brake to stop to release, driver can continue safety traffic and pass through crossroad.
The intersection vehicle collision avoidance system and method for the present invention, by setting of object collecting unit 10
Put, it is possible to identify vehicle front and the pedestrian in front, side and it effectively protected, before collection vehicle
Side and the vehicle in front, side and pedestrian information, it is possible to effectively expand vehicle front and the detection of side target lead object
Scope, is greatly improved the safety of intersection driving.
According to below in conjunction with the accompanying drawing detailed description to the specific embodiment of the invention, those skilled in the art will
More understand the above-mentioned of the present invention and other purposes, advantage and feature.
Accompanying drawing explanation
Some describing the present invention the most by way of example, and not by way of limitation in detail are concrete
Embodiment.Reference identical in accompanying drawing denotes same or similar parts or part.Art technology
Personnel are it should be understood that what these accompanying drawings were not necessarily drawn to scale.In accompanying drawing:
Fig. 1 is the theory diagram of intersection vehicle collision avoidance system according to an embodiment of the invention；
Fig. 2 is the schematic diagram of Ackermann steer angle investigative range according to an embodiment of the invention；
The schematic diagram of investigative range when Fig. 3 is that vehicle is kept straight on according to an embodiment of the invention；
Fig. 4 is the schematic diagram of vehicle detection scope in prior art；
Fig. 5 is the workflow diagram of intersection vehicle collision avoidance method according to an embodiment of the invention.
Detailed description of the invention
Fig. 1 is the theory diagram of intersection vehicle collision avoidance system according to an embodiment of the invention, as
Shown in Fig. 1, described intersection vehicle collision avoidance system is used for preventing from sending out with side front vehicles or pedestrian from car
Raw collision, its general object collecting unit 10 that can include, central control unit 20 and perform list
Unit 30, described object collecting unit 10 is for gathering near intersection before the front of described vehicle and side
The vehicle of side and pedestrian information；Described central control unit 20, for receive described vehicle status information and
The vehicle in the front of described vehicle and front, side and the information of pedestrian, and calculate described vehicle according to information above
Risk of collision, be simultaneously emitted by instruction control performance element 30；Described performance element 30 is used for pointing out driving
Member's safe driving is or/and make described vehicle automatic brake stop avoiding described vehicle to collide.
The present invention setting by object collecting unit 10, it is possible to identify vehicle front and the row in front, side
It is also effectively protected by people, by collection vehicle front and the vehicle in front, side and pedestrian information, it is possible to
Effectively expand vehicle front and the investigative range of side target lead object, be greatly improved the peace of intersection driving
Quan Xing.
Concrete, described object collecting unit 10 includes radar 101 and photographic head 102, described radar
101 include that, from radar and main radar, they can lay respectively at the front, side of described vehicle, is used for gathering institute
Stating the front of vehicle, side road ahead environmental information and information of vehicles, described photographic head 102 may be located at institute
State near rear-viewing mirror in vehicle and towards the front of described vehicle, before gathering the front of described vehicle, side
Side's pedestrian information, alternatively, described radar 101 can be millimetre-wave radar, and described photographic head 102 is permissible
For monocular cam.
Fig. 2 is the schematic diagram of Ackermann steer angle investigative range according to an embodiment of the invention, and Fig. 3 is root
The schematic diagram of investigative range when keeping straight on according to the vehicle of one embodiment of the invention, as in figure 2 it is shown, when vehicle arrives
Reach crossing when turning, now have vehicle 60 and pedestrian 100 (arrow that the vehicle 50 laterally sailed and front sail
Head represents vehicle heading), as it is shown on figure 3, when vehicle is kept straight on, now have the vehicle laterally sailed
70 and roadside pedestrian 100, during vehicle 40 detecting objects, by will be from radar 1011 and main thunder
Reach 1012 fronts, side being arranged on vehicle 40, photographic head 102 is arranged on the front of vehicle 40, due to
The described investigative range from radar 1011 and main radar 1012 can reach ± 86 ° (triangular representation region),
The investigative range of described photographic head 102 can reach ± 25 ° (triangular representation region), so described vehicle
40 scopes that can detect front and front region ± 172 °, side, therefore, compared to vehicle in prior art
The investigative range of 40, Fig. 4 is the schematic diagram of vehicle detection scope in prior art, as shown in Figure 4, when having
During the vehicle 60 (arrow represents vehicle heading) that the vehicle 50 laterally sailed and front are sailed, only
Radar 101 detects, and investigative range only ± 45 ° (triangular representation region), and detect less than
The scope 80 and 90 of automobile side, the most effectively expands vehicle front and the investigative range of side target lead object,
It is greatly improved the security performance of vehicle.
Further, described intersection vehicle collision avoidance system also includes Vehicle Controller LAN (car
Carry CAN network), described central control unit 20 receives described by described Vehicle Controller LAN
The status information of vehicle, sends information to described performance element by described Vehicle Controller LAN simultaneously
30.Wherein, the status information of described vehicle includes steering wheel angle information, speed and wheel speed information, braking
Pedal state information, gas pedal information, longitudinal acceleration information, lateral acceleration information, yaw angle
One or more in rate information and switching information.
Described central control unit 20 is by receiving the available information of above-mentioned vehicle itself, before receiving it in addition
Side or side front vehicles or the information of pedestrian, it becomes possible to the accurately risk of collision of real-time judge vehicle, effectively
Improve the accuracy rate that vehicle judges, improve the quality of vehicle.
In an embodiment of the invention, described performance element 30 includes acousto-optic alarm for mineral and electronic stability control
Processing procedure sequence, described acousto-optic alarm for mineral is used for pointing out driver safety to drive a vehicle, and described Electronics stability program is used
Stop in making vehicle automatic emergency stop.Here, described acousto-optic alarm for mineral can be alarm lamp and buzzer, institute
State alarm lamp and may be located at the door Triangle ID plate controlled by door module, during warning, can be according to certain frequency
Sending dazzling gold-tinted, described buzzer can be the instrument buzzer controlled by Meter Control Unit, reports to the police
Time, audible alarm can be produced and travel danger with prompting driver by original route.When described acousto-optic alarm for mineral
Suggesting effect does not has effect, i.e. driver continues according to original route turning driving or relies on acousto-optic hint
When accident cannot be avoided to occur, described Electronics stability program will be to vehicle wheel cylinder pressure by car
Emergency brake is stopped.
Further, described intersection vehicle collision avoidance system also includes man-machine interactive system, is used for pointing out
Vehicle described in driver is promptly stopped to stop/and release automatic brake and stopped.
When the car emergency brake stopping time, notify the travel conditions of driver's now vehicle, described man-machine friendship for convenience
Mutually system can remind driver vehicle to travel danger by original route by car running computer the most promptly to stop and stop.Certainly,
Promptly stop after stopping for prompting driver, when vehicle can continue the most safely to travel, described man-machine interactive system
Driver also can be pointed out can to continue to drive safely by crossroad, this greatly improves driving of driver
Sail experience.
In an embodiment of the invention, described intersection vehicle collision avoidance system also includes self-test unit,
The most faulty for detecting described intersection vehicle collision avoidance system.The setting of self-test unit, is conducive to
Before startup system, ensure the effectiveness of system, be conducive to improving the active safety performance of vehicle.
Certainly, in a further embodiment, for convenience of the transmission of information, simplied system structure, described central authorities
Control unit 20 may be located at inside described main radar, described photographic head with described from radar, described from thunder
Reach and can be connected by privately owned controller local area network respectively with described main radar, described main radar and described car
Gateway can be connected by common control unit LAN.
Fig. 5 is the workflow diagram of intersection vehicle collision avoidance method according to an embodiment of the invention,
As it is shown in figure 5, a kind of intersection vehicle using intersection vehicle collision avoidance system described above is prevented
Collision method, it can comprise the steps of in general manner:
S100, starts vehicle motor and vehicle is linked into drive shift；
S200, vehicle collision avoidance system start-up, self-test unit enters self-check program, if described vehicle collision avoidance
System does not has fault, then enter state of activation；If described vehicle collision avoidance system is faulty, by man-machine friendship
After system prompt driver is to overcome described fault mutually, enter state of activation；
S300, described central control unit receives vehicle and pedestrian information, is received from the status information of car simultaneously,
Calculate the risk of collision of described vehicle according to information above, when there being risk of collision, go to S400；Do not touch
When hitting risk, described vehicle collision avoidance system is kept to be active；
S400, described central control unit controls acousto-optic alarm for mineral with prompting driver safety driving, same to time control
Electronics stability program processed makes vehicle parking.
Concrete, in S300, described vehicle has the standard of risk of collision can be, before described vehicle
The vehicles or pedestrians in side or front, side residence time in the warning region of system calibrating exceedes the very first time
Threshold value, meanwhile, two cars or from the time that car and pedestrian will collide less than the second time threshold, here,
Described very first time threshold value can be 180ms, and described second time threshold can be 3.5s.
Certainly, in an embodiment of the invention, after described vehicle is stopped in emergency, described central authorities control
Unit 20 can issue instructions to man-machine interactive system, reminds driver's car by the car running computer of described vehicle
Travelling danger by original route the most promptly stops and stops；Meanwhile, judge that danger is when described central control unit 20
During releasing, can stop releasing by man-machine interactive system prompting driver's automatic brake, driver can continue peace
Entirely drive through crossroad.
Object detection is carried out, therefore, it is possible to carry out with photographic head 102 owing to the method is provided with radar 101
Data fusion identifies vehicle front and the pedestrian in front, side and effectively protects it, simultaneously by gathering
The vehicle in vehicle front and front, side and pedestrian information, it is possible to effectively expand vehicle front and side target lead object
Investigative range, thus be greatly improved intersection driving safety.
So far, although those skilled in the art will appreciate that and the most detailed illustrate and describing the present invention's
Exemplary embodiment, but, without departing from the spirit and scope of the present invention, still can be according to the present invention
Disclosure directly determines or derives other variations or modifications of many meeting the principle of the invention.Therefore,
The scope of the present invention is it is understood that and regard as covering other variations or modifications all these.
Claims (10)
1. an intersection vehicle collision avoidance system, is used for preventing from occurring with side front vehicles or pedestrian from car
Collision, including:
Object collecting unit, for gathering the front of described vehicle and the vehicle in front, side near intersection
With pedestrian information；
Central control unit, is used for receiving the status information of described vehicle and the front of described vehicle and front, side
The information of vehicle and pedestrian, and calculate the risk of collision of described vehicle according to information above, be simultaneously emitted by referring to
Order controls performance element；With
Described performance element, is used for pointing out driver safety to drive a vehicle or/and make described vehicle automatic brake stop avoiding
Described vehicle collides.
Intersection the most according to claim 1 vehicle collision avoidance system, it is characterised in that described mesh
Mark thing collecting unit includes radar and photographic head, and wherein, described radar includes from radar and main radar, they
Lay respectively at the front, side of described vehicle, for gathering the front of described vehicle, side road ahead environmental information
And information of vehicles, described photographic head is positioned near described rear-viewing mirror in vehicle and towards the front of described vehicle,
For gathering the front of described vehicle, front, side pedestrian information；
Alternatively, described radar is millimetre-wave radar；
Alternatively, described photographic head is monocular cam.
Intersection the most according to claim 1 and 2 vehicle collision avoidance system, it is characterised in that also
Including Vehicle Controller LAN, described central control unit is connect by described Vehicle Controller LAN
Receive the status information of described vehicle, simultaneously by described Vehicle Controller LAN send information to described in hold
Row unit.
4., according to the intersection vehicle collision avoidance system according to any one of claim 1-3, its feature exists
In, the status information of described vehicle includes steering wheel angle information, speed and wheel speed information, brake pedal shape
State information, gas pedal information, longitudinal acceleration information, lateral acceleration information, yaw rate are believed
One or more in breath and switching information.
5., according to the intersection vehicle collision avoidance system according to any one of claim 1-4, its feature exists
In, described performance element includes that acousto-optic alarm for mineral and Electronics stability program, described acousto-optic alarm for mineral are used for
Prompting driver safety driving, described Electronics stability program is used for making vehicle automatic emergency stop and stops；
Alternatively, described acousto-optic alarm for mineral is alarm lamp and buzzer.
6., according to the intersection vehicle collision avoidance system according to any one of claim 1-5, its feature exists
In, also include man-machine interactive system, be used for pointing out vehicle described in driver promptly stopped stop/ released automatic brake
Stop.
7., according to the intersection vehicle collision avoidance system according to any one of claim 1-6, its feature exists
In, also include self-test unit, be used for detecting described intersection vehicle collision avoidance system the most faulty.
8., according to the intersection vehicle collision avoidance system according to any one of claim 2-7, its feature exists
In, described central control unit is positioned at inside described main radar, described photographic head with described from radar, described
It is connected by privately owned controller local area network respectively with described main radar from radar, described main radar and described car
Gateway connected by common control unit LAN.
9. the friendship of the intersection vehicle collision avoidance system that a kind is applied to according to any one of claim 1-8
Cross road mouth vehicle collision avoidance method, it is characterised in that comprise the steps of:
S100, starts vehicle motor and vehicle is linked into drive shift；
S200, vehicle collision avoidance system start-up, enter self-check program, if described vehicle collision avoidance system does not has
Fault, then enter state of activation；If described vehicle collision avoidance system is faulty, carried by man-machine interactive system
After showing that driver is to overcome described fault, enter state of activation；
S300, receives vehicle and pedestrian information, is received from the status information of car, according to information above meter simultaneously
Calculate the risk of collision of described vehicle, when there being risk of collision, go to S400；When there is no risk of collision, keep
Described vehicle collision avoidance system is active；
S400, controls acousto-optic alarm for mineral and drives a vehicle with prompting driver safety, control electronic stability simultaneously and control journey
Sequence makes vehicle parking.
Intersection the most according to claim 9 vehicle collision avoidance method, it is characterised in that at S300
In, described vehicle has the standard of risk of collision to be: the front of described vehicle or the vehicles or pedestrians in front, side exist
In the warning region of system calibrating, residence time exceedes very first time threshold value, meanwhile, and two cars or from car and row
The time that people will collide is less than the second time threshold；
Alternatively, described very first time threshold value is 180ms；
Alternatively, described second time threshold is 3.5s.
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| CN201610585946.8A CN106004671A (en) | 2016-07-21 | 2016-07-21 | Intersection vehicle anti-collision system and method |
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| CN109726447A (en) * | 2018-12-10 | 2019-05-07 | 北京百度网讯科技有限公司 | Pedestrian's evacuation method, device and storage medium around automatic driving vehicle |
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Application publication date: 20161012 |