CN110027554A - Vehicle intelligent collision control method and system - Google Patents
Vehicle intelligent collision control method and system Download PDFInfo
- Publication number
- CN110027554A CN110027554A CN201910367004.6A CN201910367004A CN110027554A CN 110027554 A CN110027554 A CN 110027554A CN 201910367004 A CN201910367004 A CN 201910367004A CN 110027554 A CN110027554 A CN 110027554A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- target vehicle
- distance
- threshold value
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 60
- 238000005183 dynamical system Methods 0.000 claims abstract description 31
- 238000004590 computer program Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 16
- 230000006870 function Effects 0.000 description 8
- 230000008901 benefit Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000003860 storage Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 231100001261 hazardous Toxicity 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- WHGYBXFWUBPSRW-FOUAGVGXSA-N beta-cyclodextrin Chemical compound OC[C@H]([C@H]([C@@H]([C@H]1O)O)O[C@H]2O[C@@H]([C@@H](O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O3)[C@H](O)[C@H]2O)CO)O[C@@H]1O[C@H]1[C@H](O)[C@@H](O)[C@@H]3O[C@@H]1CO WHGYBXFWUBPSRW-FOUAGVGXSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- 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
- 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
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
-
- 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
-
- 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
- B60W2710/18—Braking system
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention provides a kind of vehicle intelligent collision control method and systems, are related to technical field of vehicle control, and this method includes obtaining the first relative velocity of first distance and rear car relative to target vehicle of target vehicle with the rear car；The rear car is vehicle of the traveling at target vehicle rear；When first distance is less than first distance threshold value, and the first relative velocity is greater than First Speed threshold value, the dynamical system of target vehicle is controlled to improve the speed of the target vehicle；The dynamical system includes braking system and/or drive system.A kind of vehicle intelligent collision control method and system provided in an embodiment of the present invention, through monitoring vehicle at a distance from rear car and relative velocity, and the cooperating of coordinated control braking system and/or drive system, car speed and vehicle and rear car distance is set to be maintained at safe range, the risk that vehicle is knocked into the back can be reduced, the safety of vehicle driving is improved.
Description
Technical field
The present invention relates to technical field of vehicle control, more particularly, to a kind of vehicle intelligent collision control method and system.
Background technique
As people's living standard increasingly improves, people are also higher and higher to the consciousness of traffic safety and requirement.It is automatic tight
The driving assistance systems such as the anxious braking system and self-adaption cruise system active safety system important as one is gradually by weight
Depending on and it is universal.
The investigation of Euro-NCAP (New Car Assessment Program, new car crash tests) shows that equipment is automatic
The accident that can be reduced 27% after emergency braking system, so Euro-NCAP is by automatic emergency brake technology and ESP
(Electronic Stability Program, body electronics systems stabilisation) equally incorporates security rating bonus point project.Europe
Continent major part automobile vendor starts universal automatic emergency brake technology in the product of oneself, and the automobile that the country newly releases also is opened
Begin universal automatic emergency brake technology.
Currently, existing automatic emergency brake system and self-adaption cruise system etc. drive ancillary technique only solve vehicle with
Front truck or the risk of barrier collision, when rear car is closer apart from own vehicle, there are still biggish quilts during emergency brake of vehicle
Knock into the back risk.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of vehicle intelligent collision control method and system, to reduce vehicle quilt
The risk to knock into the back improves the safety of vehicle driving.
In a first aspect, it is applied to vehicle control system the embodiment of the invention provides a kind of vehicle intelligent collision control method, it should
Method includes: to obtain target vehicle first distance with the rear car and rear car relative to the first relatively fast of target vehicle
Degree；The rear car is vehicle of the traveling at target vehicle rear；When first distance is less than first distance threshold value, and the first relative velocity
When greater than First Speed threshold value, the dynamical system of target vehicle is controlled to improve the speed of the target vehicle；The dynamical system packet
Include braking system and/or drive system.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein on
The step of stating the dynamical system of control target vehicle, comprising: if the dynamical system includes braking system, control target vehicle
Braking system release braking；If the dynamical system includes drive system, the drive system raising power for controlling target vehicle is defeated
Out.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, wherein
Before the step of speed of the dynamical system of above-mentioned control target vehicle to improve the target vehicle, further includes: work as first distance
Less than second distance threshold value, and when the first relative velocity is greater than second speed threshold value, the mobile unit for controlling target vehicle is issued
Sound and/or light prompt information；The second distance threshold value is greater than first distance threshold value.
The possible embodiment of second with reference to first aspect, the embodiment of the invention provides the third of first aspect
Possible embodiment, wherein the mobile unit is Human machine interface (Human Machine Interface, man-machine boundary
Face).
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible embodiments of first aspect, wherein
The step of first distance and rear car relative to the first relative velocity of target vehicle of above-mentioned acquisition target vehicle with the rear car
Before rapid, further includes: obtain second phase of the second distance and target vehicle between target vehicle and front truck relative to front truck
To speed；The front truck is vehicle of the traveling in front of target vehicle；When second distance is less than third distance threshold, and second is opposite
When speed is greater than third speed threshold value, brake system is controlled to reduce the speed of target vehicle.
The 4th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 5th kind of first aspect
Possible embodiment, wherein this method further include: when second distance is greater than the 4th distance threshold and is less than third apart from threshold
Value, the second relative velocity is less than fourth speed threshold value, and first distance is less than first distance threshold value, and the first relative velocity is greater than the
When one threshold speed, control braking system release braking；The fourth speed threshold value is less than third speed threshold value.
The 5th kind of possible embodiment with reference to first aspect, the embodiment of the invention provides the 6th kind of first aspect
Possible embodiment, wherein after above-mentioned control braking system discharges the step of braking, further includes: control drive system
Improve power output.
Second aspect, the embodiment of the invention also provides a kind of vehicle intelligent collision control systems, comprising: the first parameter obtains mould
Block, for obtaining target vehicle first distance with the rear car and rear car relative to the first relatively fast of the target vehicle
Degree；The rear car is vehicle of the traveling at target vehicle rear；First control Coordination module, for when first distance less than first away from
From threshold value, and when the first relative velocity is greater than First Speed threshold value, the dynamical system of target vehicle is controlled to improve target vehicle
Speed；The dynamical system includes braking system and/or drive system.
In conjunction with second aspect, the embodiment of the invention provides the first possible embodiments of second aspect, wherein should
System further include: the second parameter acquisition module, for obtaining second distance and target vehicle between target vehicle and front truck
The second relative velocity relative to front truck；The front truck is vehicle of the traveling in front of target vehicle；Second control Coordination module, is used
In when second distance be less than third distance threshold, and the second relative velocity be greater than third speed threshold value when, control braking system into
Row is braked to reduce the speed of target vehicle.
The third aspect, the embodiment of the invention also provides a kind of electronic equipment, including memory, processor, the storages
The computer program that can be run on the processor is stored in device, the processor is realized when executing the computer program
The step of vehicle intelligent collision control method that one of above-mentioned first aspect and its possible embodiment provide.
The embodiment of the present invention bring it is following the utility model has the advantages that
A kind of vehicle intelligent collision control method and system provided in an embodiment of the present invention, the vehicle intelligent collision control method include obtaining
Take the first relative velocity of first distance and rear car relative to target vehicle of target vehicle with the rear car；The rear car is
Travel the vehicle at target vehicle rear；When first distance be less than first distance threshold value, and the first relative velocity be greater than first speed
When spending threshold value, the dynamical system of target vehicle is controlled to improve the speed of the target vehicle；The dynamical system includes braking system
And/or drive system.Vehicle intelligent collision control method provided in an embodiment of the present invention, through monitoring vehicle at a distance from rear car and phase
To speed, and the cooperating of coordinated control braking system and/or drive system, protect car speed and vehicle and rear car distance
It holds in safe range, the risk that vehicle is knocked into the back can be reduced, improve the safety of vehicle driving.
Other feature and advantage of the disclosure will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or by implement the disclosure above-mentioned technology it can be learnt that.
To enable the above objects, features, and advantages of the disclosure to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of application scenarios schematic diagram of vehicle intelligent collision control provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of vehicle intelligent collision control method provided in an embodiment of the present invention；
Fig. 3 is the application scenarios schematic diagram of another vehicle intelligent collision control provided in an embodiment of the present invention；
Fig. 4 is the flow diagram of another vehicle intelligent collision control method provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of vehicle intelligent collision control system provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of another vehicle intelligent collision control system provided in an embodiment of the present invention；
Fig. 7 is a kind of application schematic diagram of vehicle intelligent collision control system provided in an embodiment of the present invention.
Icon: 10- target vehicle；11- rear car；12- front truck；The first parameter acquisition module of 50-；The control of 51- first is coordinated
Module；The second parameter acquisition module of 60-；61- second controls Coordination module；71- drive system；72- braking system；73- first
Range unit；The second range unit of 74-；75-HMI man-machine interface；500- vehicle intelligent collision control system.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Existing automatic Pilot auxiliary system can solve one's own side such as automatic emergency brake system or self-adaption cruise system
There is risk of collision in vehicle and front truck or front obstacle, but when emergency occurs on road, and first urgent
The vehicle back of braking often has more vehicles and follows braking, and due to the hysteresis quality of response, in the backward, between vehicle
Apart from smaller, easily knock into the back at this time.
Currently, existing automatic emergency brake system and self-adaption cruise system etc. drive ancillary technique only solve vehicle with
Front truck or the risk of barrier collision, when rear car is closer apart from own vehicle, there are still biggish quilts during emergency brake of vehicle
Knock into the back risk.And if can rationally control at this time own vehicle and front truck (or barrier or hazardous location) and with the rear car away from
From can then substantially reduce the risk to be knocked into the back.
Based on this, a kind of vehicle intelligent collision control method and system provided in an embodiment of the present invention can reduce vehicle and be chased after
The risk of tail improves the safety of vehicle driving.
For convenient for understanding the present embodiment, first to a kind of vehicle intelligent collision controlling party disclosed in the embodiment of the present invention
Method describes in detail.
Embodiment one:
Referring to Fig. 1, for a kind of application scenarios schematic diagram of vehicle intelligent collision control, wherein there is another vehicle after target vehicle 10
, referred to as rear car 11, here, target vehicle 10 is the controlled vehicle for carrying out active collision avoidance, rear car 11 can be any type, into
The vehicle of any possible driving behavior of row can be normally travel for example, rear car 11 can be retroversion, can be in overtaking other vehicles,
It can be in brake deceleration.Wherein, 10 real-time monitoring of target vehicle is at a distance from rear car 11, and calculate in real time two vehicles it
Between relative velocity；It is closer in two vehicles, when relative velocity is larger, to avoid the possibility to be knocked into the back, target vehicle 10 is controlled
Acceleration operation is carried out, to prevent from being knocked into the back by rear car 11.
It specifically, referring to fig. 2 to the control method of target vehicle, is a kind of vehicle intelligent collision control provided in an embodiment of the present invention
The flow diagram of method processed, this method are applied to vehicle control system, from Figure 2 it can be seen that method includes the following steps:
Step S202: the of target vehicle first distance with the rear car and rear car relative to target vehicle is obtained
One relative velocity；The rear car is vehicle of the traveling at target vehicle rear.
Here, the control system of target vehicle obtains the distance of target vehicle with the rear car, which is first
Distance.In a kind of wherein embodiment, ranging can be carried out by the distance-measuring equipment on vehicle, wherein the survey of distance-measuring equipment
It can be ultrasonic distance measurement away from method, can be radar range finding, be also possible to optical ranging, or image is shot with camera
Carry out analysis ranging.Correspondingly, the distance-measuring equipment that can be used can be camera, radar etc., one of which can be used, it can also
To be their any combination.
In addition, control system also obtains relative velocity of the rear car relative to target vehicle, in the present embodiment, this is relatively fast
Degree is defined as the first relative velocity.In a kind of wherein possible embodiment, can by obtain in real time above-mentioned first away from
From first relative velocity is calculated, for example, with the two spacing deviations at certain two moment, divided by the time difference at two moment, then
The relative velocity that two vehicles are average in the period can be calculated, when above-mentioned two time at intervals enough in short-term, obtained phase
It is the two vehicle relative velocities namely the first relative velocity for being approximately the moment to speed.
In other possible embodiments, target vehicle and rear car can also be obtained in real time by way of satellite positioning
Between first distance, and measurement obtain first relative velocity of the rear car relative to target vehicle.It is led for being mounted with satellite
The target vehicle for function of navigating, control system can extract desired position data and speed data directly from the data of navigation,
Above-mentioned first distance and above-mentioned first relative velocity is calculated.
Method for obtaining above-mentioned first distance and above-mentioned first relative velocity, can also be other embodiments,
This is not construed as limiting.
Step S204: when first distance is less than first distance threshold value, and the first relative velocity is greater than First Speed threshold value,
The dynamical system of target vehicle is controlled to improve the speed of the target vehicle；The dynamical system includes braking system and/or driving
System.
Target vehicle first distance with the rear car and rear car are being obtained relative to the first relatively fast of target vehicle
After degree, they are compared respectively with first distance threshold value, First Speed threshold value:
Here, first distance threshold value and First Speed threshold value are pre-set, first distance threshold value and First Speed threshold
Value indicates that, when being in the distance and speed, target vehicle has by the possibility of car rear-end, needs to take measures to take precautions against and be chased after
Tail.
Wherein, when first distance is less than first distance threshold value, and at the same time meeting the first relative velocity is greater than First Speed
When threshold value, control system controls the dynamical system of target vehicle to improve the speed of the target vehicle, wherein the dynamical system packet
Include braking system and/or drive system.That is, by coordinated control braking system and/or drive system to improve target vehicle
Speed.Here, by the coordinated control to braking system, drive system, so that target vehicle raises speed, to reduce target carriage
The risk to be knocked into the back, or release the risk to be knocked into the back.
In at least one possible embodiment, control braking system release braking, and/or control driving can be passed through
System improves the mode of power output to improve the speed of target vehicle.Specifically, if the dynamical system includes braking system,
It can control the braking system release braking of target vehicle；If the dynamical system includes drive system, target carriage can control
Drive system improve power output.
For example, when target vehicle is in the state of braking brake, car speed is declining, to improve speed, control
System can control braking system release braking, in this way, because removing or reducing the resistance of brake, vehicle by inertia to
Before, speed is opposite to be improved.
In another scene, if vehicle is not under braking state, but normally travel, it is found by above-mentioned judgement
In the presence of by car rear-end risk when, control system can control drive system and improve power output, to improve speed, such as can
To open the throttle, or transform to high-order shelves etc..
Under the situation that above-mentioned target vehicle is in brake, if only being also not enough to release the wind to be knocked into the back by release braking
When dangerous, the mode that control system can be combined with control drive system improves power output, so that the speed of target vehicle is into one
Step improves, to reduce or eliminate its risk by car rear-end.
Here, by the coordinated control to braking system and drive system, when rear car is relatively close from target vehicle and relatively fast
When spending very fast, by improving the speed of target vehicle, so that the distance of two vehicles keeps in safe range, can effectively avoid rear
Vehicle knocks into the back.In the present embodiment, it is illustrated so that target vehicle moves forward as an example, the case where for vehicle travel backwards,
Control method is similar with the control to move forward, and details are not described herein.
A kind of vehicle intelligent collision control method provided in an embodiment of the present invention, this method include obtain target vehicle and rear car it
Between the first relative velocity relative to target vehicle of first distance and rear car；The rear car is traveling at target vehicle rear
Vehicle；When first distance is less than first distance threshold value, and the first relative velocity is greater than First Speed threshold value, target carriage is controlled
Dynamical system to improve the speed of the target vehicle；The dynamical system includes braking system and/or drive system.The vehicle
Collision avoidance control method, through monitoring vehicle at a distance from rear car and relative velocity, and coordinated control braking system and drive system
Cooperating, so that car speed and vehicle and rear car distance is maintained at safe range, the risk that vehicle is knocked into the back can be reduced,
Improve the safety of vehicle driving.
Embodiment two:
In order to further increase the safety of driving, shown in above-mentioned Fig. 2 on the basis of vehicle intelligent collision control method, this implementation
Example provides another vehicle intelligent collision control method, and this method is applied to vehicle control system.
Specifically, the step of vehicle intelligent collision control method is as follows:
Step 31: obtaining first of the first distance and rear car of target vehicle with the rear car relative to target vehicle
Relative velocity.
Step 32: when first distance is less than second distance threshold value, and the first relative velocity is greater than second speed threshold value, control
The mobile unit sending sound and/or light prompt information of target vehicle processed；The second distance threshold value is greater than first distance threshold value.
Compared to above-described embodiment one, in the present embodiment two, it is also provided with second distance threshold value and second speed threshold value.
Here, second distance threshold value is greater than above-mentioned first distance threshold value, and second speed threshold value can be with above-mentioned First Speed
Threshold value is equal, can also be different.In this case, the distance between rear car and target vehicle are also not up to first distance threshold
Value, two vehicle distances at this time because have apart reached second distance still not at the distance range for having the larger risk that knocks into the back
Threshold value, it is believed that two vehicles are closer, and speed is greater than second speed threshold value, however it remains the possibility to knock into the back, at this point, control system
The mobile unit that can control target vehicle makes a sound and/or the prompt information of light, to issue to driver or occupant
Alarm.In this way, driver can take appropriate measures, such as actively raise speed, to eliminate the hidden danger that knocks into the back.
In wherein at least one possible embodiment, above-mentioned mobile unit can be Human machine interface (Human
Machine Interface, man-machine interface).Man-machine interface (also known as user interface or user interface) be system and user it
Between interact medium with information exchange, be a kind of human-computer interaction device comprising hardware and software, it realizes the interior of information
Portion's form and the mankind can receive the conversion between form.For example, man-machine interface may include vehicle mounted multimedia, radio, vehicle
Carry navigation system etc..When above-mentioned first distance be less than second distance threshold value, and the first relative velocity be greater than second speed threshold value
When, control system can control HMI and issue light, such as splashette, particular image etc.；Or it makes a sound, such as alarm；Or
Prompt information is issued with the combining form of light and sound.
Step 33: when first distance is less than first distance threshold value, and the first relative velocity is greater than First Speed threshold value, association
Braking system and/or drive system are adjusted to improve the speed of target vehicle.
If after control mobile unit sending sound and/or light prompt information, driver does not take the initiative the arranging of speed-raising
It applies, so that the distance in two workshops further furthers, in this way, when first distance is less than first distance threshold value, and the first relative velocity
When greater than First Speed threshold value, control system is to control the speed for coordinating braking system and/or drive system to improve target vehicle
Degree, to reduce or eliminate risk of the target vehicle by car rear-end.
In the present embodiment, before Triggering Control System carries out coordinated control to braking system and/or drive system, in advance
First pass through mobile unit sending sound and the/prompt information of light, with the hidden danger for reminding driver to knock into the back, so as to it is artificial actively into
Row collision avoidance eliminates the hidden danger to be knocked into the back in advance, enhances the safety of driving.
Embodiment three:
It is another application scenarios of vehicle intelligent collision control, as seen from Figure 3, before and after target vehicle 10 all referring to Fig. 3
There is vehicle, is referred to as rear car 11 and front truck 12 with the vehicle in front in its rear.Under the scene, target vehicle 10 is in addition to needing
Prevent knocking into the back for rear car 11, it is also necessary to prevent from colliding with front truck 12.In other possible embodiments, front truck 12
It could alternatively be other barriers, such as building, animal, hazardous location (such as building site, staple shaft, steep cliff).In the present embodiment
In, another vehicle intelligent collision control method is described, can reduce the risk that target vehicle 10 is knocked into the back and knocked into the back.
It specifically, referring to fig. 4, is the flow diagram of the vehicle intelligent collision control method, this method is applied to vehicle control
System, from fig. 4, it can be seen that method includes the following steps:
Step S402: the of second distance between target vehicle and front truck and target vehicle relative to front truck is obtained
Two relative velocities, front truck are vehicle of the traveling in front of target vehicle.
Here, the distance between target vehicle and front truck are defined as second distance, by target vehicle relative to front truck
Relative velocity is defined as the second relative velocity, is distinguished with showing.Wherein, control system obtains above-mentioned second distance and above-mentioned in real time
Two relative velocities, specific acquisition modes can refer to acquisition and meter in embodiment one about first distance and the first relative velocity
Calculation method.
Step S404: when second distance is less than third distance threshold, and the second relative velocity is greater than third speed threshold value,
Brake system is controlled to reduce the speed of target vehicle.
Third distance threshold and third speed threshold value can be preset, to measure between current goal vehicle and front truck
Distance and relative velocity whether be among the risk for collision of knocking into the back, in a kind of wherein embodiment, can use big number
Mode according to statistics searches the two vehicle distances and relative velocity occurred in rear-end collision, with set above-mentioned third distance threshold and
Third speed threshold value is referred to.
In actual operation, above-mentioned second distance, the second relative velocity and third distance threshold, third speed are respectively compared
Threshold value, when second distance is less than third distance threshold, and the second relative velocity is greater than third speed threshold value, it is believed that target vehicle
There is the risk of collision with front truck, at this point, control system controls brake system, to reduce the speed of target vehicle, here,
When risk is larger, it can directly stop and stop target vehicle.
In this way, by a distance from front truck and the monitoring of relative velocity, entering in distance and relative velocity to target vehicle
When to preset collision hidden trouble scope, control system can control braking system and carry out active brake, thus reduce or eliminate with
The risk that front truck bumps against.
In alternatively possible embodiment, above-mentioned third distance threshold can not also be entered in target vehicle and front truck
Range when, control system controls the prompt information of mobile unit sending sound and/or light, is arranged with prompting driver actively to take
It applies, such as brake deceleration, to prevent the collision with front truck.
Step S406: the of target vehicle first distance with the rear car and rear car relative to target vehicle is obtained
One relative velocity；The rear car is vehicle of the traveling at target vehicle rear.
Control system also obtains target vehicle distance with the rear car and relative velocity in real time simultaneously, with judgement and rear car
A possibility that knocking into the back, and take the corresponding precautionary measures.
Step S408: when first distance is less than first distance threshold value, and the first relative velocity is greater than First Speed threshold value,
The dynamical system of target vehicle is controlled to improve the speed of the target vehicle；The dynamical system includes braking system and/or driving
System.
Here, control system controls braking system and/or drive system, to reduce or eliminate its chasing after with rear car
The concrete mode of tail can be found in the corresponding contents in above-described embodiment one and embodiment two, and details are not described herein.
In actual operation, control system to the front and back target of target vehicle (mobile target or fixed target) into
Row monitors in real time, by obtain distance from and relative velocity and preset risk evaluation scale, to target carriage
The risk to collide with front and back target is judged, when there are risk of collision, control system coordinates target vehicle
Braking system and drive system are to carry out collision avoidance.Passed through when under risk of collision by above-mentioned vehicle intelligent collision control method
Coordinated control to braking system and drive system, target vehicle adjust at a distance from front truck and rear car in constantly dynamic, with
The risk of collision and loss are preferably minimized.
In another vehicle intelligent collision control scene, when control system judge target vehicle and front truck there are risk of collision,
And control during braking system braked, if it exists by the risk of car rear-end, vehicle intelligent collision controlling party shown in Fig. 4
On the basis of method, target vehicle can be controlled in the following manner and carries out collision avoidance:
Preset the 4th distance threshold and fourth speed threshold value, wherein the 4th distance threshold is less than third apart from threshold
Value, the fourth speed threshold value are less than third speed threshold value；
When second distance is greater than the 4th distance threshold and is less than third distance threshold, the second relative velocity is less than fourth speed
Threshold value, also, first distance is less than first distance threshold value, when the first relative velocity is greater than First Speed threshold value, controls braking system
System release braking.
That is, the collision hidden danger between target vehicle and front truck reduces, when second distance is big with the braking of target vehicle
In the 4th distance threshold and it is less than third distance threshold, when the second relative velocity is less than fourth speed threshold value, it is believed that target vehicle
The hidden danger very little collided with front truck, or even eliminated；And at this point, due to monitor first distance be less than first distance threshold value,
First relative velocity is greater than First Speed threshold value, that is, target vehicle exists by the risk of car rear-end, at this point it is possible to control
Braking system release braking, moves forward vehicle by inertia, to reduce by the risk of car rear-end.
If monitoring that the speed of rear car relative target vehicle is still very big after release braking, apart from close, there are still
When the risk to be knocked into the back, then control system can control drive system and improve power output, be chased after with reducing target vehicle by rear car
The risk of tail.
In alternatively possible embodiment, if first distance is less than first distance threshold value, and the first relative velocity is big
In First Speed threshold value, meanwhile, second distance is less than third distance threshold, and the second relative velocity is greater than third speed threshold value,
That is, target vehicle is the presence of the risk that is knocked into the back, it, can also be by control system control while there is also when the risk for the front truck that knocks into the back
Drive system processed reduces speed, until vehicle brake is stopped.That is, when knocking into the back and the risk that knocked into the back exists simultaneously, preferential selection drop
The risk of the low front truck that knocks into the back.
In addition, exist concurrently with knock into the back front truck and knocked into the back risk when, can also be by driver according to actual vehicle
It is excellent to knock into the back and reduce the control knocked into the back to reduction by HMI setting control system according to actual needs for vehicle condition, such as carrying situation
First grade.For example, if vehicle is two-box automobile, and heel row is occupied, it is considered that the risk that vehicle is knocked into the back is greater than the danger to knock into the back
Danger reduces the risk to be knocked into the back so as to setting control system priority acccess control.
Example IV:
The embodiment of the invention also provides a kind of vehicle intelligent collision control systems, referring to Fig. 5, for the vehicle intelligent collision control system
500 structural schematic diagram, as seen from Figure 5, the system include the first parameter acquisition module 50 being connected with each other and the first control association
Mode transfer block 51, wherein the function of modules is as follows:
First parameter acquisition module 50, it is opposite for obtaining target vehicle first distance with the rear car and rear car
In the first relative velocity of target vehicle；The rear car is vehicle of the traveling at target vehicle rear；
First control Coordination module 51, for being less than first distance threshold value when first distance, and the first relative velocity is greater than
When First Speed threshold value, the dynamical system of target vehicle is controlled to improve the speed of the target vehicle；The dynamical system includes system
Dynamic system and/or drive system.
In alternatively possible embodiment, referring to Fig. 6, the basis of vehicle intelligent collision control system 500 shown in Fig. 5
On, which further includes the second parameter acquisition module 60 and the second control Coordination module 61 being connected with each other.Wherein, the second parameter
Module 60 is obtained to be used to obtain the second phase of second distance and target vehicle relative to front truck between target vehicle and front truck
To speed；The front truck is vehicle of the traveling in front of target vehicle；Second control Coordination module 61 is used to be less than when second distance
Third distance threshold, and the second relative velocity be greater than third speed threshold value when, control braking system braked to reduce target
The speed of vehicle.
Emergency braking system in compared with the prior art, vehicle intelligent collision control system 500 provided in this embodiment can be with
The risk that vehicle is knocked into the back is effectively reduced.
It is a kind of application schematic diagram of vehicle intelligent collision control system referring to Fig. 7, in application scenarios shown in Fig. 7, the mesh
Mark vehicle include vehicle intelligent collision control system 500, also, further include the drive system 71 being respectively connected with it, braking system 72,
First range unit 73, the second range unit 74 and HMI man-machine interface 75.In actual operation, the first range unit 73 is used for
Target vehicle is measured at a distance from front truck, the second range unit 74 is for measuring target vehicle at a distance from rear car, control system
Calculate separately the relative velocity of target vehicle and front truck, rear car according to above-mentioned distance, and by with default safe distance and safety
Braking, and/or control drive system are braked and discharged to the multilevel iudge of relative velocity, corresponding coordinated control braking system 72
71 increase or decrease power output, to realize collision avoidance.
Here, at least one possible embodiment, above-mentioned braking system can be line control brake system, the braking
System receives other control modules, such as the request of vehicle intelligent collision control system 500 in the case where driver does not operate
Afterwards, it controls and brake actuator is driven to act.Also, above-mentioned drive system can be power and the transmission of driving vehicle driving
System, the drive system can under the coordination of vehicle intelligent collision control system 500 to vehicle wheel end output power to drive vehicle
Traveling or output resistance are to reduce Vehicle Speed.
The technical effect of vehicle intelligent collision control system provided by the embodiment of the present invention, realization principle and generation and aforementioned
Vehicle intelligent collision control method embodiment is identical, and to briefly describe, system embodiment part does not refer to place, can refer to preceding method
Corresponding contents in embodiment.
Embodiment five:
The embodiment of the invention also provides a kind of electronic equipment, including memory, processor, it is stored in the memory
The computer program that can be run on the processor, the processor realize above-described embodiment when executing the computer program
One, the step of vehicle intelligent collision control method that one of embodiment two, embodiment three and its possible embodiment provide.
Electronic equipment provided in an embodiment of the present invention has identical with vehicle intelligent collision control method provided by the above embodiment
Technical characteristic reach identical technical effect so also can solve identical technical problem.
Unless specifically stated otherwise, the opposite step of the component and step that otherwise illustrate in these embodiments, digital table
It is not limit the scope of the invention up to formula and numerical value.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustratively, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
The flow chart and block diagram in the drawings show the system of multiple embodiments according to the present invention, method and computer journeys
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, section or code of table, a part of the module, section or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually base
Originally it is performed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that
It is the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, can uses and execute rule
The dedicated hardware based system of fixed function or movement is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
The computer program product of vehicle intelligent collision control method is carried out provided by the embodiment of the present invention, including stores place
The computer readable storage medium of the executable non-volatile program code of device is managed, the instruction that said program code includes can be used for
Previous methods method as described in the examples is executed, specific implementation can be found in embodiment of the method, and details are not described herein.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, of the invention
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the present invention
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of vehicle intelligent collision control method, which is characterized in that be applied to vehicle control system, which comprises
Target vehicle first distance with the rear car and the rear car are obtained relative to the target vehicle first is opposite
Speed；The rear car is vehicle of the traveling at the target vehicle rear；
When the first distance is less than first distance threshold value, and first relative velocity is greater than First Speed threshold value, control
The dynamical system of the target vehicle is to improve the speed of the target vehicle；The dynamical system include braking system and/or
Drive system.
2. vehicle intelligent collision control method according to claim 1, which is characterized in that control the dynamical system of the target vehicle
The step of system, comprising:
If the dynamical system includes braking system, the braking system release braking of the target vehicle is controlled；
If the dynamical system includes drive system, the drive system for controlling the target vehicle improves power output.
3. vehicle intelligent collision control method according to claim 1, which is characterized in that control the dynamical system of the target vehicle
Before the step of speed to improve the target vehicle of uniting, further includes:
When the first distance is less than second distance threshold value, and first relative velocity is greater than second speed threshold value, control
The mobile unit sending sound and/or light prompt information of the target vehicle；The second distance threshold value is greater than the first distance
Threshold value.
4. vehicle intelligent collision control method according to claim 3, which is characterized in that the mobile unit is man-machine interface
HMI。
5. vehicle intelligent collision control method according to claim 1, which is characterized in that in the acquisition target vehicle and rear car
Between the first relative velocity relative to the target vehicle of first distance and the rear car the step of before, further includes:
Second distance between target vehicle and front truck and the target vehicle are obtained relative to the front truck second is opposite
Speed；The front truck is vehicle of the traveling in front of the target vehicle；
When the second distance is less than third distance threshold, and second relative velocity is greater than third speed threshold value, control
Brake system is to reduce the speed of the target vehicle.
6. vehicle intelligent collision control method according to claim 5, which is characterized in that the method also includes:
When the second distance is greater than the 4th distance threshold and is less than third distance threshold, second relative velocity is less than the 4th
Threshold speed, and the first distance is less than first distance threshold value, when first relative velocity is greater than First Speed threshold value, control
Make the braking system release braking；
The fourth speed threshold value is less than the third speed threshold value.
7. vehicle intelligent collision control method according to claim 6, which is characterized in that released in the control braking system
After the step of putting braking, further includes:
It controls the drive system and improves power output.
8. a kind of vehicle intelligent collision control system characterized by comprising
First parameter acquisition module, for obtain target vehicle first distance with the rear car and the rear car relative to
First relative velocity of the target vehicle；The rear car is vehicle of the traveling at the target vehicle rear；
First control Coordination module, for being less than first distance threshold value when the first distance, and first relative velocity is big
When First Speed threshold value, the dynamical system of the target vehicle is controlled to improve the speed of the target vehicle；The power
System includes braking system and/or drive system.
9. vehicle intelligent collision control system according to claim 8, which is characterized in that further include:
Second parameter acquisition module, for obtaining second distance and the target carriage between the target vehicle and front truck
The second relative velocity relative to the front truck；The front truck is vehicle of the traveling in front of the target vehicle；
Second control Coordination module, for being less than third distance threshold when the second distance, and second relative velocity is big
When third speed threshold value, controls the braking system and braked to reduce the speed of the target vehicle.
10. a kind of electronic equipment, including memory, processor, it is stored with and can runs on the processor in the memory
Computer program, which is characterized in that the processor realizes the claims 1 to 7 when executing the computer program
The step of one vehicle intelligent collision control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910367004.6A CN110027554A (en) | 2019-04-30 | 2019-04-30 | Vehicle intelligent collision control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910367004.6A CN110027554A (en) | 2019-04-30 | 2019-04-30 | Vehicle intelligent collision control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110027554A true CN110027554A (en) | 2019-07-19 |
Family
ID=67241131
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910367004.6A Pending CN110027554A (en) | 2019-04-30 | 2019-04-30 | Vehicle intelligent collision control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110027554A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758244A (en) * | 2019-10-31 | 2020-02-07 | 的卢技术有限公司 | Method and system for automatically preventing rear-end collision of electric automobile |
| CN110775027A (en) * | 2019-10-29 | 2020-02-11 | 长安大学 | Rear-end collision prevention braking system and method based on rear vehicle driving mode |
| CN110803160A (en) * | 2019-11-14 | 2020-02-18 | 吉林大学 | Automobile backward anti-collision control system and control method |
| CN111645675A (en) * | 2019-11-12 | 2020-09-11 | 摩登汽车有限公司 | Automobile anti-collision control method, device and system and automobile |
| CN111832947A (en) * | 2020-07-16 | 2020-10-27 | 腾讯科技（深圳）有限公司 | Risk assessment method, risk assessment device, computer equipment and medium |
| CN112441086A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Rail vehicle, control method and system thereof, and train control and management system |
| CN112590749A (en) * | 2020-12-07 | 2021-04-02 | 安徽江淮汽车集团股份有限公司 | Vehicle brake control method, device, equipment and storage medium |
| CN112762848A (en) * | 2019-11-05 | 2021-05-07 | 深圳市大富科技股份有限公司 | Distance measurement method and device and computer storage medium |
| CN113246976A (en) * | 2021-07-05 | 2021-08-13 | 天津所托瑞安汽车科技有限公司 | Vehicle braking method, device, equipment and storage medium |
| CN113460041A (en) * | 2021-09-06 | 2021-10-01 | 智己汽车科技有限公司 | Safe rear-end collision prevention intelligent driving method and equipment |
| CN114013438A (en) * | 2021-07-29 | 2022-02-08 | 东风汽车集团股份有限公司 | ACC control system based on GPS system |
| CN116142189A (en) * | 2023-04-25 | 2023-05-23 | 浙江吉利控股集团有限公司 | Vehicle, control method thereof, and computer-readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102795184A (en) * | 2012-08-27 | 2012-11-28 | 奇瑞汽车股份有限公司 | Active avoiding system for preventing rear-end collision and control method thereof |
| CN105253033A (en) * | 2015-10-22 | 2016-01-20 | 北京新能源汽车股份有限公司 | Vehicle control system |
| CN106114480A (en) * | 2016-06-29 | 2016-11-16 | 成都生辉电子科技有限公司 | A kind of automobile safety control method based on two-way range rate measurement |
| RU2616114C1 (en) * | 2015-10-20 | 2017-04-12 | Артем Эрнстович Гимранов | Method preventing the vehicles collision |
| CN107031553A (en) * | 2017-03-27 | 2017-08-11 | 宁波吉利汽车研究开发有限公司 | A kind of tailgating-proof system and method for vehicle |
| CN108556842A (en) * | 2018-03-05 | 2018-09-21 | 浙江吉利汽车研究院有限公司 | Actively accelerate control method, device and the controller of collision avoidance |
-
2019
- 2019-04-30 CN CN201910367004.6A patent/CN110027554A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102795184A (en) * | 2012-08-27 | 2012-11-28 | 奇瑞汽车股份有限公司 | Active avoiding system for preventing rear-end collision and control method thereof |
| RU2616114C1 (en) * | 2015-10-20 | 2017-04-12 | Артем Эрнстович Гимранов | Method preventing the vehicles collision |
| CN105253033A (en) * | 2015-10-22 | 2016-01-20 | 北京新能源汽车股份有限公司 | Vehicle control system |
| CN106114480A (en) * | 2016-06-29 | 2016-11-16 | 成都生辉电子科技有限公司 | A kind of automobile safety control method based on two-way range rate measurement |
| CN107031553A (en) * | 2017-03-27 | 2017-08-11 | 宁波吉利汽车研究开发有限公司 | A kind of tailgating-proof system and method for vehicle |
| CN108556842A (en) * | 2018-03-05 | 2018-09-21 | 浙江吉利汽车研究院有限公司 | Actively accelerate control method, device and the controller of collision avoidance |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112441086A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Rail vehicle, control method and system thereof, and train control and management system |
| CN110775027B (en) * | 2019-10-29 | 2021-07-27 | 长安大学 | Rear-end collision prevention braking system and method based on rear vehicle driving mode |
| CN110775027A (en) * | 2019-10-29 | 2020-02-11 | 长安大学 | Rear-end collision prevention braking system and method based on rear vehicle driving mode |
| CN110758244A (en) * | 2019-10-31 | 2020-02-07 | 的卢技术有限公司 | Method and system for automatically preventing rear-end collision of electric automobile |
| CN110758244B (en) * | 2019-10-31 | 2022-08-05 | 的卢技术有限公司 | Method and system for automatically preventing rear-end collision of electric automobile |
| CN112762848A (en) * | 2019-11-05 | 2021-05-07 | 深圳市大富科技股份有限公司 | Distance measurement method and device and computer storage medium |
| CN111645675A (en) * | 2019-11-12 | 2020-09-11 | 摩登汽车有限公司 | Automobile anti-collision control method, device and system and automobile |
| CN110803160A (en) * | 2019-11-14 | 2020-02-18 | 吉林大学 | Automobile backward anti-collision control system and control method |
| CN111832947A (en) * | 2020-07-16 | 2020-10-27 | 腾讯科技（深圳）有限公司 | Risk assessment method, risk assessment device, computer equipment and medium |
| CN111832947B (en) * | 2020-07-16 | 2023-11-24 | 腾讯科技（深圳）有限公司 | Risk assessment method, risk assessment device, computer equipment and medium |
| CN112590749A (en) * | 2020-12-07 | 2021-04-02 | 安徽江淮汽车集团股份有限公司 | Vehicle brake control method, device, equipment and storage medium |
| CN113246976A (en) * | 2021-07-05 | 2021-08-13 | 天津所托瑞安汽车科技有限公司 | Vehicle braking method, device, equipment and storage medium |
| CN114013438A (en) * | 2021-07-29 | 2022-02-08 | 东风汽车集团股份有限公司 | ACC control system based on GPS system |
| CN114013438B (en) * | 2021-07-29 | 2024-04-16 | 东风汽车集团股份有限公司 | ACC control system based on GPS system |
| CN113460041A (en) * | 2021-09-06 | 2021-10-01 | 智己汽车科技有限公司 | Safe rear-end collision prevention intelligent driving method and equipment |
| CN113460041B (en) * | 2021-09-06 | 2021-11-26 | 智己汽车科技有限公司 | Safe rear-end collision prevention intelligent driving method and equipment |
| CN116142189A (en) * | 2023-04-25 | 2023-05-23 | 浙江吉利控股集团有限公司 | Vehicle, control method thereof, and computer-readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110027554A (en) | Vehicle intelligent collision control method and system | |
| CN110356377A (en) | A kind of decision-making technique of automatic emergency brake, mobile unit and storage medium | |
| CN110395251A (en) | A kind of automatic emergency brake decision-making technique based on Multi-sensor Fusion data | |
| JP6848794B2 (en) | Collision avoidance support device | |
| CN110155045A (en) | A kind of vehicle promptly accelerates Self-Protection Subsystem and its self-protection method | |
| EP3689696B1 (en) | Forward collision avoidance method for vehicle | |
| CN105774800B (en) | A kind of impact-moderation method and device in hybrid vehicle queue between vehicle | |
| CN102069800B (en) | Vehicle running control method and control device | |
| CN105848981B (en) | Driver assistance method and system for vehicle | |
| CN105121246B (en) | Method and apparatus for auxiliary of overtaking other vehicles | |
| CN103079917B (en) | Vehicle control device | |
| CN103477378B (en) | Drive assistance device | |
| CN106427956B (en) | Control to the deceleration device of motor vehicle | |
| CN111439199B (en) | reporting device | |
| CN106114494A (en) | A kind of reversing for vehicle assists collision avoidance system and method | |
| JP2017142679A (en) | Vehicle, vehicle control device, vehicle control method, and vehicle control program | |
| CN108556842A (en) | Actively accelerate control method, device and the controller of collision avoidance | |
| CN109733394B (en) | Control method for preventing rear-end collision of vehicle and vehicle control system | |
| CN107010028A (en) | Collision avoidance system, control method and the electric automobile of electric automobile | |
| CN110379203A (en) | A kind of driving steering anti-collision warning method | |
| CN108116385A (en) | Control method for vehicle and vehicle control system | |
| CN108515934A (en) | A kind of vehicle anti-collision early warning method and system based on more radars | |
| CN109195845A (en) | Vehicle control system, control method for vehicle and vehicle control program | |
| CN103380033A (en) | Vehicle control apparatus | |
| CN110435650A (en) | Emergency avoidance method, system, equipment and storage medium are collided after vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190719 |