CN107139921B - A kind of steering collision-proof method and system for vehicle - Google Patents
A kind of steering collision-proof method and system for vehicle Download PDFInfo
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- CN107139921B CN107139921B CN201710218643.7A CN201710218643A CN107139921B CN 107139921 B CN107139921 B CN 107139921B CN 201710218643 A CN201710218643 A CN 201710218643A CN 107139921 B CN107139921 B CN 107139921B
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- vehicle
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- collision
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- lane line
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012545 processing Methods 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of steering collision-proof methods and system for vehicle, are related to field of vehicle safety.The steering collision-proof method for vehicle includes the changing lane that the front of the determining vehicle has risk of collision and the vehicle to be determined according to the lane line information；Determining the changing lane, there is no influence lane change target；The Vehicular turn is automatically controlled to avoid the risk of collision.The present invention also provides corresponding systems.The lane line information that the present invention passes through detection vehicle front, and changing lane is determined according to the lane line information, it can not only judge whether vehicle can turn to avoid collision, it can also judge that adjacent lane if appropriate for turning to avoid other dangerous generations in addition to vehicle front collides, effectively increases the security performance of vehicle.
Description
Technical field
The present invention relates to field of vehicle safety, more particularly to a kind of steering collision-proof method and system for vehicle.
Background technique
At present in terms of the active safety anticollision of vehicle, there are the feelings of risk of collision especially in front of target vehicle
It is main to be avoided collision using warning, braking and steering under condition.Warning relies primarily on sound, light or very brief braking to remind
Driver's danger has been arrived, and driver is needed to take steps to avoid danger manually.Braking is stablized by the vehicle body of vehicle
System is come the automatic braking that executes braking instruction to realize vehicle.Steering is then by avoiding collision the automatic lane change of vehicle.
But limited not in time or by system function due to driver's reaction, alert and brake the two methods especially
It is that braking uniquely relies on braking and reduces speed and avoids collision, therefore there is no really danger is excluded, thus can not be effective
Avoid the generation of accident.It turns to and then judges whether vehicle can be with simply by whether detection adjacent lane has an impact lane change target
Lane change, by vehicle lane change to avoid the generation of accident when there is no lane change target is influenced.
Summary of the invention
Inventors have found that using the method turned to a certain extent can generation to avoid collision, but only by
Detection adjacent lane judges whether vehicle can be with lane change with the presence or absence of lane change target is influenced, it is possible to produce bigger danger,
For example adjacent lane is the pavement on the lane or sky way of reverse driving vehicle close to steep cliff side.Using existing
Technology be, when on the lane of the reverse driving vehicle or sky way close to steep cliff side pavement there is no influence become
When road target, vehicle will auto-steering avoid the collision that may occur of front.But according to the prior art, when vehicle is gone to
When the lane of reverse driving vehicle, with the vehicle on the lane of the reverse driving vehicle more serious touch may occur for vehicle
It hits, when vehicle is gone on sky way close to the pavement of steep cliff side, vehicle is likely to that the danger of pendant precipice occurs.To keep away
Exempt from the above danger, inventor joined vehicle and determine according to the lane line information in the method for taking steering to avoid collision
This content of changing lane goes out the lane or winding public affairs that adjacent lane is reverse driving vehicle by lane line information analysis
When road is close to pavement (i.e. can not changing Lane) of steep cliff side, just forbid vehicle auto-steering to occur
Bigger danger.
Therefore, the purpose of the present invention is to provide a kind of steering collision-proof method for vehicle, this method can turn
To greatly reducing vehicle others security risk in the case where avoiding collision.
It is another object of the present invention to provide a kind of steering collision avoidance system for vehicle, which can turn
To vehicle others security risk is greatly reduced in the case where avoiding collision, the security performance of vehicle is effectively improved.
Particularly, the present invention provides a kind of steering collision-proof method for vehicle, the vehicle can detect lane
Line information, comprising:
It is convertible to determine that the front of the vehicle has risk of collision and the vehicle to determine according to the lane line information
Lane；
Determining the changing lane, there is no influence lane change target；
The Vehicular turn is automatically controlled to avoid the risk of collision.
Further, the front of the determination vehicle has risk of collision and the vehicle according to the lane line information
Determining changing lane is divided into two steps:
It detects the lane line information in the front of the vehicle and is determined according to the lane line information described convertible
Lane；
Determine that there is risk of collision in the front of the vehicle；Or
Determine that there is risk of collision in the front of the vehicle；
In the case where there is the risk of collision, the lane line information in the front of the vehicle is detected and according to described
Lane line information determines the changing lane.
Further, whether the front that the vehicle can also detect the vehicle has no overtaking to identify, and is detecting
It is described no overtaking mark in the case where, only remind a driver safety driving；
Optionally, no changing lane is determined according to lane line information or/and there are the influence lane change targets
In the case where, only remind driver safety driving.
Further, before automatically controlling the Vehicular turn, further include remind driver to take measures manually to prevent
The step of collision.
It further, further include the determining changing lane in the case where the driver does not take any measure
Whether vehicle left side adjacent lane is included the steps that.
Further, it in the case where including the vehicle left side adjacent lane, automatically controls the vehicle and turns to the left；
In the case where not including the vehicle left side adjacent lane, automatically controls the vehicle and turn to the right.
Particularly, the present invention also provides a kind of steering collision avoidance systems for vehicle, comprising:
Object probe unit, for detecting the object information of the vehicle periphery；
Image acquisition unit, for obtaining the lane line information and traffic mark information of the vehicle front；
Image processing unit, for handling the lane line information and the traffic mark information；
Central processing unit, for receiving and processing the object information and the lane line information and the traffic mark
Know information；With
Execution unit drives a vehicle for automatic prompt driver safety or/and makes the vehicle auto-steering to avoid collision
Risk.
Further, the object acquisition unit includes the first radar at the vehicle front bumper, is used for
Detect in this lane the speed of the object of the vehicle front and at a distance from the vehicle；
Optionally, first radar is adaptive cruise radar.
Further, the object acquisition unit further includes the second radar and for being located at the vehicle side rear
Three radars, for detecting the speed of the object in the adjacent lane of the vehicle side rear, at a distance from the vehicle and
Angle；
Optionally, second radar and the third radar are blind monitoring radar.
Further, described image acquiring unit is camera, at the room mirror of the vehicle, for obtaining
The lane line information and the traffic mark information of the vehicle front；
Optionally, the camera is driveway deviation alarming system camera.
Steering collision-proof method and system for vehicle of the invention, by detecting the lane line information of vehicle front,
And changing lane is determined according to the lane line information, it can not only judge whether vehicle can turn to avoid collision, also
It may determine that the generations of adjacent lane if appropriate for steering to avoid other danger in addition to vehicle front collides, because
And the accident rate in vehicle travel process is greatly reduced, effectively increase the security performance of vehicle.
Detailed description of the invention
Some specific embodiments of the present invention is described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference identifies same or similar part or part in attached drawing.In attached drawing:
Fig. 1 is the work flow diagram according to the steering collision-proof method for vehicle of one embodiment of the invention；
Fig. 2 is the functional block diagram according to the steering collision avoidance system for vehicle of one embodiment of the invention.
Specific embodiment
Fig. 1 is according to the work flow diagram of the steering collision-proof method for vehicle of one embodiment of the invention, such as Fig. 1
Shown, the steering collision-proof method for vehicle of the invention may include following steps:
S100, determine the front of the vehicle have risk of collision and the vehicle according to the lane line information determine can
Changing Lane；
S200, determining the changing lane, there is no influence lane change target；
S300 automatically controls the Vehicular turn to avoid the risk of collision.
Steering collision-proof method for vehicle of the invention, by the lane line information of detection vehicle front, and according to
The lane line information determines changing lane, can not only judge whether vehicle can turn to avoid collision, such as lane line
For the single solid line of white, then can not turn to；Adjacent lane can also be judged if appropriate for steering to avoid except vehicle front
Other dangerous generations other than colliding then are not suitable for turning to if lane line is double amber lines, such as the list that lane line is white
Solid line, it may be possible to which sky way is then also not suitable for turning to close to the pavement of steep cliff side, thus greatly reduces vehicle driving
Accident rate in the process effectively increases the security performance of vehicle.
Specifically, the front of the determination vehicle has risk of collision and the vehicle true according to the lane line information
Fixed changing lane can be divided into two steps: the first step is to detect the lane line information and root in the front of the vehicle
The changing lane is determined according to the lane line information；Second step is to determine that there is risk of collision in the front of the vehicle.Exist
In vehicle operation, vehicle is detecting always lane line information and is determining changing lane, while confirming vehicle always
Whether front has risk of collision, once confirmation has a risk of collision, vehicle can immediately according to pre-determined changing lane into
Row lane change, this has greatly saved detection lane line and has confirmed the time of changing lane, is conducive to the safety for improving vehicle.
Certainly, above-mentioned two step can be with reversed order, in the case where determining has risk of collision, then before detecting the vehicle
The lane line information of side simultaneously determines the changing lane according to the lane line information.In this way, vehicle can not have to
Lane line is detected always and confirms changing lane, is conducive to save detection resource and computing resource.
Further, whether the front that the vehicle can also detect the vehicle has no overtaking to identify, and is detecting
It is described no overtaking mark in the case where, then only remind driver safety driving；Certainly, no institute is determined according to lane line information
It states changing lane or/and there are in the case where the influence lane change target, can only also driver safety be reminded to drive a vehicle.
It in an embodiment of the invention, can also include reminding driver before automatically controlling the Vehicular turn
It is taken measures manually with the step S400 of anticollision and judges whether driver takes the step S500 of manual measure.If driving
Member takes measure manually, such as makes vehicle braking, then vehicle continues to travel under the operation of driver.If driver does not take
Any measure then automatically controls the Vehicular turn.
It in another embodiment, can also include determining in the case where driver does not take any measure
Whether the changing lane includes the steps that vehicle left side adjacent lane.Including the case where the vehicle left side adjacent lane
Under, it automatically controls the vehicle and turns to the left；In the case where not including the vehicle left side adjacent lane, described in automatic control
Vehicle turns to the right.
Particularly, Fig. 2 is the functional block diagram according to the steering collision avoidance system for vehicle of one embodiment of the invention.
As shown in Fig. 2, providing a kind of steering collision avoidance system for vehicle, general may include object probe unit
10, image acquisition unit 20, image processing unit 30, central processing unit 40 and execution unit 50.The object detection is single
Member 10 is for detecting the object information of the vehicle periphery；Image acquisition unit 20 is used to obtain the lane of the vehicle front
Line information and traffic mark information；Image processing unit 30 is for handling the lane line information and the traffic mark information；
Central processing unit 40 is for receiving and processing the object information and the lane line information and the traffic mark information；
Execution unit 50 is for the driving of automatic prompt driver safety or/and makes vehicle auto-steering risk to avoid collision.
By above-mentioned setting, the especially acquisition of lane line information, can not only judge vehicle whether can turn to
It avoids collision, can also judge adjacent lane if appropriate for steering to avoid other danger in addition to vehicle front collides
The generation of danger, thus the accident rate in vehicle travel process is greatly reduced, effectively increase the security performance of vehicle.
Particularly, the object acquisition unit 10 may include the first thunder at the vehicle front bumper
It reaches, for detecting in this lane the speed of the object of the vehicle front and at a distance from the vehicle；Herein, institute
Stating the first radar can be adaptive cruise radar, can detect the object information in 160 meters of vehicle front.The target
Object acquisition unit 10 can also include the second radar and third radar for being located at the vehicle side rear, described for detecting
The speed of the object in the adjacent lane of vehicle side rear, at a distance from the vehicle and angle；Herein, described second
Radar and the third radar can be blind monitoring radar, can detect the target within the scope of 70 meters of vehicle side rear
Object information.Described image acquiring unit 20 can be camera, described for obtaining at the room mirror of the vehicle
The lane line information and the traffic mark information of vehicle front；Herein, the camera can be deviation report
Warn system camera, the lane line information and the traffic mark information within the scope of 60 meters of available vehicle front.
The hardware device as used by the system is provisioned in vehicle itself, it is achieved that the function of the system does not increase vehicle
Hardware cost, thus the system is with good application prospect.
Further, in an embodiment of the invention, the central control unit 40 can integrate at the first radar,
And second radar, the third radar and camera be as sensor, in this way, central control unit 40 can receive institute
The second radar, the information that the third radar and camera are detected and in conjunction with the detection data of first radar are stated, and
Integrated treatment above data makes and judges and take appropriate measures accordingly, such as whether there is risk of collision, if there is taboo
Only lane change or mark of overtaking other vehicles, if existing influences lane change target, lane change target is influenced if it exists, then the influence lane change mesh
Mark is in the left side or right side of vehicle；When needing Vehicular turn accident generation to avoid collision, Vehicular turn is automatically controlled
System turns to；When needing that driver safety is reminded to drive a vehicle, sound-light alarm and/or image alarm system of vehicle etc. are automatically controlled
To prompt driver safety to drive a vehicle.
It is especially noted that when controlling vehicle progress lane change, such as there is no lane change target is influenced, then should
System can preferentially select to carry out lane change to the left, and only vehicle left side, which exists, influences lane change target, and shadow is not present in vehicle right side
Lane change target is rung, system can just select to carry out lane change to the right.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (11)
1. a kind of steering collision-proof method for vehicle, the vehicle can detect lane line information, comprising:
Determine the changing lane that the front of the vehicle has risk of collision and the vehicle to determine according to the lane line information；
Determining the changing lane, there is no influence lane change target；
The Vehicular turn is automatically controlled to avoid the risk of collision；
Before automatically controlling the Vehicular turn, further include the steps that driver is reminded to be taken measures manually with anticollision；
In the case where the driver does not take any measure, further include whether the determining changing lane includes a vehicle left side
The step of side adjacent lane；
In the case where including the vehicle left side adjacent lane, automatically controls the vehicle and turn to the left；It is not including described
In the case where vehicle left side adjacent lane, automatically controls the vehicle and turn to the right.
2. the steering collision-proof method according to claim 1 for vehicle, which is characterized in that the determination vehicle
Front have risk of collision and the vehicle according to the lane line information determine changing lane be divided into two steps:
It detects the lane line information in the front of the vehicle and the changing lane is determined according to the lane line information；
Determine that there is risk of collision in the front of the vehicle；Or
Determine that there is risk of collision in the front of the vehicle；
In the case where there is the risk of collision, the lane line information in the front of the vehicle is detected and according to the lane
Line information determines the changing lane.
3. the steering collision-proof method according to claim 1 or 2 for vehicle, which is characterized in that
Mark that whether front that the vehicle can also detect the vehicle has that no overtaking is detecting no overtaking the mark
In the case where knowledge, driver safety driving is only reminded.
4. the steering collision-proof method according to claim 3 for vehicle, which is characterized in that true according to lane line information
Determine no changing lane or/and there are in the case where the influence lane change target, only reminds driver safety driving.
5. a kind of steering collision avoidance system for vehicle, comprising:
Object probe unit, for detecting the object information of the vehicle periphery；
Image acquisition unit, for obtaining the lane line information and traffic mark information of the vehicle front；
Image processing unit, for handling the lane line information and the traffic mark information；
Central processing unit is believed for receiving and processing the object information and the lane line information and the traffic mark
Breath；With
Execution unit for the driving of automatic prompt driver safety or/and makes vehicle auto-steering risk to avoid collision.
6. the steering collision avoidance system according to claim 5 for vehicle, which is characterized in that the object acquisition is single
Member includes the first radar at the vehicle front bumper, for detecting the target of the vehicle front in this lane
The speed of object and at a distance from the vehicle.
7. the steering collision avoidance system according to claim 6 for vehicle, which is characterized in that first radar is certainly
Adapt to cruise radar.
8. according to the described in any item steering collision avoidance systems for vehicle of claim 5-7, which is characterized in that the target
Object acquisition unit further includes the second radar and third radar for being located at the vehicle side rear, for detecting the vehicle side
The speed of the object in the adjacent lane of rear, at a distance from the vehicle and angle.
9. the steering collision avoidance system according to claim 8 for vehicle, which is characterized in that second radar and institute
Stating third radar is blind monitoring radar.
10. being used for the steering collision avoidance system of vehicle according to any one of claim 5-7,9, which is characterized in that institute
Stating image acquisition unit is camera, at the room mirror of the vehicle, for obtaining described in the vehicle front
Lane line information and the traffic mark information.
11. the steering collision avoidance system according to claim 10 for vehicle, which is characterized in that the camera is vehicle
Road departure warning system camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710218643.7A CN107139921B (en) | 2017-04-05 | 2017-04-05 | A kind of steering collision-proof method and system for vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710218643.7A CN107139921B (en) | 2017-04-05 | 2017-04-05 | A kind of steering collision-proof method and system for vehicle |
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| Publication Number | Publication Date |
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| CN107139921A CN107139921A (en) | 2017-09-08 |
| CN107139921B true CN107139921B (en) | 2019-10-29 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019159500A (en) * | 2018-03-08 | 2019-09-19 | トヨタ自動車株式会社 | Vehicle control device |
| JP6745294B2 (en) * | 2018-04-04 | 2020-08-26 | 本田技研工業株式会社 | Vehicle control device, vehicle control method, and program |
| CN108622089A (en) * | 2018-08-02 | 2018-10-09 | 苏州艾普乐思新能源动力***科技有限公司 | A kind of vehicle lane-changing anti-collision control method and device based on In-wheel motor driving |
| CN110533913A (en) * | 2019-09-17 | 2019-12-03 | 辰芯科技有限公司 | Method for early warning, device, vehicle and the storage medium of vehicle collision |
| CN112721929B (en) * | 2021-01-11 | 2022-11-22 | 成都语动未来科技有限公司 | Decision-making method for lane changing behavior of automatic driving vehicle based on search technology |
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| CN102248945A (en) * | 2010-05-21 | 2011-11-23 | 上海理工大学 | Laser scanned active anti-collision system for vehicle |
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| CN107139921A (en) | 2017-09-08 |
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