CN110304054A - A kind of automatic emergency brake method based on Multi-sensor Fusion - Google Patents
A kind of automatic emergency brake method based on Multi-sensor Fusion Download PDFInfo
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- CN110304054A CN110304054A CN201910594279.3A CN201910594279A CN110304054A CN 110304054 A CN110304054 A CN 110304054A CN 201910594279 A CN201910594279 A CN 201910594279A CN 110304054 A CN110304054 A CN 110304054A
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- 230000004888 barrier function Effects 0.000 claims abstract description 45
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 238000013459 approach Methods 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000000717 retained effect Effects 0.000 claims abstract 2
- 238000012545 processing Methods 0.000 claims description 27
- 238000001914 filtration Methods 0.000 claims description 6
- 238000012216 screening Methods 0.000 claims description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental 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
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention provides a kind of automatic emergency brake method based on Multi-sensor Fusion, by environment sensing sensor and vehicle CAN network real-time communication, obtains barrier relative to the coordinate position and relative velocity from vehicle；The target that environment sensing sensor obtains is screened, is retained from the obstacle target in vehicle driving trace；The obstacle target in vehicle driving trace is obtained from relative to the coordinate position and relative velocity from vehicle, calculate the collision time from vehicle and front obstacle, and compared with preset pre-warning time threshold value, if collision time is less than pre-warning time threshold value, warning note is issued by warning device；Barrier approaches identification, in case of emergency carries out active brake.The present invention screens obstacle target, keeps alarm more accurate, is merged by millimetre-wave radar and ultrasonic radar, and the short distance blind area occurred to millimetre-wave radar makes up, and keeps the continuity of obstacle distance detection, and brake is safer.
Description
Technical field
The invention belongs to electric vehicle engineering fields, and in particular to a kind of automatic emergency brake based on Multi-sensor Fusion
Method.
Background technique
It is various to be directed to vehicle row with the high speed development of Vehicular intelligent and the continuous improvement to vehicle safety performance requirement
Active safety technologies when sailing are grown rapidly.The a part of automatic emergency brake system as advanced driving assistance system, can have
Effect avoids collision the generation of accident.But existing market automatic emergency brake system is mostly based on single millimetre-wave radar and is ground
Hair may be such that barrier loss of data, lead to brake release in braking latter stage due to the presence of millimetre-wave radar blind area,
Collision can not be evaded, there are security risks.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of automatic emergency brake sides based on Multi-sensor Fusion
Method.
The present invention adopts the following technical scheme:
A kind of automatic emergency brake method based on Multi-sensor Fusion, includes the following steps:
S1, pass through environment sensing sensor and vehicle CAN network real-time communication, obtain barrier relative to the coordinate from vehicle
Position and relative velocity；
S2, the barrier coordinate position according to acquisition, screen obstacle target, retain from vehicle driving trace
Obstacle target；
It is S3, relative to the coordinate position from vehicle and relatively fast from the obstacle target in vehicle driving trace according to acquisition
Degree calculates the collision time from vehicle and front obstacle, and compared with preset pre-warning time threshold value, if collision time is small
In pre-warning time threshold value, then warning note is issued by warning device；
S4, barrier approach identification, in case of emergency carry out active brake.
Preferably, in step S1, long distance obstacle detection is done using millimetre-wave radar, does low coverage benefit using ultrasonic radar
It repays, is merged by long distance millimetre-wave radar with ultrasonic radar and realize target Continuous tracking detection, obtain barrier relative to certainly
Lateral distance, fore-and-aft distance and the movement velocity of vehicle.
Preferably, in the step S2, specifically comprise the following steps:
Obtaining barrier with respect to the lateral distance of vehicle central axes by millimetre-wave radar is Dis_X；
Setting disx is goal filtering parameter, compares the size of Dis_X Yu disx value；
If-disx≤Dis_X≤disx, for target within the scope of screening, then disturbance in judgement object is from vehicle driving trace
Interior obstacle target.
Preferably, in step S3, the obstacle target being obtained from vehicle driving trace is relative to from the fore-and-aft distance of vehicle
D, barrier movement velocity are V1；Being obtained from vehicle travel speed by vehicle CAN network is V0, it is calculated by the following formula from vehicle
With the collision time TTC of front obstacle:
Preferably, in step S3, it is obtained from the collision time of vehicle and front obstacle in real time, and show by display device
Collision time and pre-warning time threshold value carry out early warning to driver；When collision time is less than pre-warning time threshold value, then
Warning note is carried out to driver by audio alarm.
Preferably, in step S4, by millimetre-wave radar detect distant place barrier, in barrier approximate procedure, from vehicle with
Relative distance between front obstacle constantly reduces, until obtaining ultrasonic radar detection in ultrasonic radar investigative range
The lateral distance Dis_x of barrier in range with respect to vehicle central axes；
Compare the size of Dis_x Yu disx value, if-disx≤Dis_x≤disx, disturbance in judgement object is to travel rail from vehicle
Obstacle target in mark；
Meanwhile comparing the size of Dis_X Yu Dis_x value, if | Dis_X-Dis_x | < 0.2m is judged as same obstacle
Object persistently does barrier and approaches identification.
Preferably, the specific method of the step S4 includes: to compare collision time and preset emergency braking threshold value
Size, if collision time is greater than emergency braking threshold value, control system will not do braking processing；If collision time is less than urgent
Braking threshold then judges whether driver makes and effectively avoids collision operation, effectively avoids touching if driver makes
Operation is hit, then control system will not do braking processing；If driver, which does not make, effectively avoids collision operation, controls and be
System makes emergency braking processing to from vehicle.
Preferably, judge whether driver makes the effective specific method for avoiding collision operation and be: in collision time
When less than emergency braking threshold value, steering modulating signal is judged whether there is, turns to modulating signal if it exists, then control system will not be made
Dynamic processing；Modulating signal is turned to if it does not exist, then judges whether there is steering wheel angle, if it exists steering wheel angle, then controls and be
System will not do braking processing；Steering wheel angle if it does not exist, then control system makes emergency braking processing to from vehicle.
Preferably, step S4 further includes the height for determining speed, is being in high-speed travel state from vehicle, and collision time is big
When emergency braking threshold value, control system also carries out the judgement of safe distance, and judge that front obstacle is opposite is from the distance of vehicle
No is more than preset safety distance threshold, if relative distance is more than preset safety distance threshold, control system will not be made
Dynamic processing；If relative distance is less than preset safety distance threshold, control system makes slight braking processing to from vehicle.
Beneficial effects of the present invention:
(1) by the blending algorithm of multisensor, the short distance blind area occurred to millimetre-wave radar makes up, protects the present invention
Hold obstacle distance detection and braking algorithm continuity, avoid braking latter stage brake rank as caused by different braking mode
Jump phenomenon；
(2) the method for the present invention screens obstacle target, only retains from the obstacle target in vehicle driving trace, row
Except invalid barrier, it is more accurate to make to alarm or even brake；
(3) the method for the present invention can calculate the collision time from vehicle and the effective barrier in front, issue and report to driver
Alert prompt, is in case of emergency able to carry out and actively brakes, and guarantees the safety of personnel and vehicle.
Detailed description of the invention
Attached drawing is used to provide to preferred understanding of the invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the investigative range schematic diagram of millimetre-wave radar and ultrasonic radar in the present invention；
Fig. 2 is the schematic view of the mounting position of millimetre-wave radar and ultrasonic radar in the present invention；
Fig. 3 is goal filtering schematic diagram in the present invention；
Fig. 4 is overall flow figure of the invention.
Specific embodiment
A specific embodiment of the invention is described with reference to the accompanying drawing.
The present embodiment mainly passes through realization in the electric bus driving process of gas braking and before front obstacle
Anti-collision warning function and emergency braking function, to specifically describe a kind of automatic emergency system based on Multi-sensor Fusion of the invention
Dynamic method, includes the following steps:
Step 1: environment sensing obtains barrier phase by environment sensing sensor and vehicle CAN network real-time communication
For the coordinate position and relative velocity from vehicle；
As shown in Figure 1, doing long distance obstacle detection using 77GHZ millimetre-wave radar 1, millimetre-wave radar 1 is mounted on vehicle
In the middle part of front bumper, d2 show millimetre-wave radar investigative range in Fig. 1, since millimetre-wave radar 1 is deposited in low coverage 0-3m or so
In the low situation in blind area or detection performance, low coverage compensation is done using ultrasonic radar 2, d1 show ultrasonic radar spy in Fig. 1
Range is surveyed, ultrasonic radar 2 is distributed in the two sides of millimetre-wave radar 1, and the present embodiment uses four ultrasonic radars 2, millimeter wave
There are two the side installations of radar 1, as shown in Figure 2；Realization is merged with low coverage ultrasonic radar 2 by long distance millimetre-wave radar 1
Target Continuous tracking detection, wherein barrier relative to from the coordinate position of vehicle include barrier relative to from vehicle laterally away from
From and fore-and-aft distance.
Step 2: goal filtering screens obstacle target according to the barrier coordinate position of acquisition, retains certainly
Obstacle target in vehicle driving trace；
Obtaining barrier with respect to the lateral distance of vehicle central axes by millimetre-wave radar is Dis_X；
Setting disx is goal filtering parameter, compares the size of Dis_X Yu disx value；
If-disx≤Dis_X≤disx, for target within the scope of screening, then disturbance in judgement object is from vehicle driving trace
Interior obstacle target.
As shown in figure 3, disx is goal filtering parameter, Dis_X1 is target lateral distance in filter area, and Dis_X2 is
The outer target lateral distance of filter area, due to | Dis_X2 | > | disx |, then assert Dis_X2 be the outer target lateral of filter area away from
From target is being screened except range, and control system ignores this information and will not do early warning or braking processing；
Due to | Dis_X1 |≤| disx |, then assert that Dis_X1 is target lateral distance in filter area, target is being screened
Within the scope of, control system fusion whole vehicle information is accordingly controlled.
Step 3: preceding anti-collision warning, according to acquisition from the obstacle target in vehicle driving trace relative to the seat from vehicle
Cursor position and relative velocity are calculated from the collision time of vehicle and front obstacle, and with preset pre-warning time threshold value (state
Mark 2.7s) compare, if collision time is less than pre-warning time threshold value, warning note is issued by warning device；
The obstacle target being obtained from vehicle driving trace is D, barrier movement velocity relative to the fore-and-aft distance from vehicle
For V1；Being obtained from vehicle travel speed by vehicle CAN network is V0, it is calculated by the following formula touching from vehicle and front obstacle
Hit time TTC:
When being obtained from the collision time of vehicle and front obstacle in real time, and showing collision time and early warning by display device
Between threshold value, to driver carry out early warning；When collision time is less than pre-warning time threshold value, then pass through audio alarm
Warning note is carried out to driver.
Step 4: automatic emergency brake, barrier approach identification, in case of emergency carry out active brake.
Distant place barrier is detected by millimetre-wave radar, in barrier approximate procedure, between vehicle and front obstacle
Relative distance constantly reduces, until obtaining the barrier phase in ultrasonic radar investigative range in ultrasonic radar investigative range
To the lateral distance Dis_x of vehicle central axes；
Compare the size of Dis_x Yu disx value, if-disx≤Dis_x≤disx, disturbance in judgement object is to travel rail from vehicle
Obstacle target in mark；
Meanwhile comparing the size of Dis_X Yu Dis_x value, if | Dis_X-Dis_x | < 0.2m is judged as same obstacle
Object persistently does barrier and approaches identification；
The setting of ultrasonic radar is the continuity for keeping obstacle distance in braking algorithm；Individually use ultrasonic wave thunder
It reaches and millimetre-wave radar has braking algorithm, if being exactly that there are two types of modes of braking without merge sensor data: normally travel
It is the algorithm for first passing through above-mentioned millimetre-wave radar from barrier is detected at a distance, braking algorithm is according to barrier collision time
Come what is determined；With the algorithm for using ultrasonic radar when low speed starting or crawling, because low can stop immediately of speed is stopped, setting is
The brake of certain distance value；If the not short distance compensation of ultrasonic radar, at emergency braking end is several meters last, millimeter wave thunder
Can't detect obstacle system up in perception blind area and will no longer brake, this when wait and be possible to that there are no brakes to stop, system
The dynamic rear car that releases still can move forward；If directly according to the braking algorithm to certain distance value of ultrasonic radar if stop and stop,
This when, braking strength poorly controlled, and the too big comfort of braking strength is poor, and small then stop of braking strength does not live vehicle；Therefore, lead to
It crosses the short distance compensation of ultrasonic radar and does same barrier identification, the fore-and-aft distance of barrier can be continuous probe, system
Dynamic algorithm is also that continuously, such stop ends smoothly can adjust braking strength according to algorithm very and vehicle brake is stopped.
While persistently doing barrier and approaching identification, control system determines the height of speed, the vehicle for bus
Speed determine dividing value be 40-45Km/h, when be in low-speed running state from vehicle, compare collision time and it is preset promptly
The size of braking threshold, if collision time is greater than emergency braking threshold value, control system will not do braking processing；If collision time
Less than emergency braking threshold value, then judges whether driver makes and effectively avoid collision operation, if driver makes effectively
Avoid collision operation, then control system will not do braking processing；If driver, which does not make, effectively avoids collision operation,
Then control system makes emergency braking processing to from vehicle；
When being in high-speed travel state from vehicle, compare the size of collision time Yu preset emergency braking threshold value,
If collision time is less than emergency braking threshold value, judges whether driver makes and effectively avoid collision operation, if driver
Member, which makes, effectively avoids collision operation, then control system will not do braking processing；It is effectively kept away if driver does not make
Exempt from impact operations, then control system makes emergency braking processing to from vehicle；If collision time is greater than emergency braking threshold value, control system
System will carry out the judgement of safe distance, judge whether front obstacle is more than relatively preset safe distance threshold from the distance of vehicle
Value, if relative distance is more than preset safety distance threshold, control system will not do braking processing；If relative distance is less than
Preset safety distance threshold, then control system makes slight braking processing to from vehicle, due to being in shape of running at high speed from vehicle
State, speed is very high, but lower with front truck relative velocity, and the TTC time is high, according to above-mentioned algorithm, even if spacing at this time compares
It closely there will not be brake measure, but belong at this time than relatively hazardous driving condition, so one safety distance threshold of setting, right
It is set as 9m for bus, when bus at this time is exercised within this range with high speed, low relative velocity, control
System makes slight braking processing, and spacing is allowed to keep in safe range.
Wherein, judge whether driver makes the effective specific method for avoiding collision operation and be: small in collision time
When emergency braking threshold value, steering modulating signal is judged whether there is, turns to modulating signal if it exists, assert that driver has and actively turns
To the intention of evacuation barrier, then control system will not do braking processing；Modulating signal is turned to if it does not exist, then is judged whether there is
Steering wheel angle, steering wheel angle, assert that driver has the intention of active steering evacuation barrier, then control system if it exists
Braking processing will not be done；Steering wheel angle if it does not exist assert that driver does not avoid the intention of barrier, then controls at this time
System makes emergency braking processing to from vehicle.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, although referring to aforementioned reality
Applying example, invention is explained in detail, for those skilled in the art, still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features.It is all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of automatic emergency brake method based on Multi-sensor Fusion, which comprises the steps of:
S1, pass through environment sensing sensor and vehicle CAN network real-time communication, obtain barrier relative to the coordinate position from vehicle
And relative velocity；
S2, the target that environment sensing sensor obtains is screened, is retained from the obstacle target in vehicle driving trace；
S3, the obstacle target being obtained from vehicle driving trace are calculated relative to the coordinate position and relative velocity from vehicle from vehicle
With the collision time of front obstacle, and compared with preset pre-warning time threshold value, if collision time is less than pre-warning time
Threshold value then issues warning note by warning device；
S4, barrier approach identification, in case of emergency carry out active brake.
2. a kind of automatic emergency brake method based on Multi-sensor Fusion according to claim 1, which is characterized in that step
In rapid S1, long distance obstacle detection is done using millimetre-wave radar, low coverage compensation is done using ultrasonic radar, passes through long distance millimeter wave
Radar is merged with ultrasonic radar realizes target Continuous tracking detection, obtains barrier relative to the lateral distance from vehicle, longitudinal direction
Distance and movement velocity.
3. a kind of automatic emergency brake method based on Multi-sensor Fusion according to claim 2, which is characterized in that institute
It states in step S2, specifically comprises the following steps:
Obtaining barrier with respect to the lateral distance of vehicle central axes by millimetre-wave radar is Dis_X；
Setting disx is goal filtering parameter, compares the size of Dis_X Yu disx value；
If-disx≤Dis_X≤disx, for target within the scope of screening, then disturbance in judgement object is from the barrier in vehicle driving trace
Hinder object target.
4. a kind of automatic emergency brake method based on Multi-sensor Fusion according to claim 3, which is characterized in that step
In rapid S3, being obtained from the obstacle target in vehicle driving trace relative to the fore-and-aft distance from vehicle is D, and barrier movement velocity is
V1；Being obtained from vehicle travel speed by vehicle CAN network is V0, it is calculated by the following formula the collision from vehicle and front obstacle
Time TTC:
5. a kind of automatic emergency brake method based on Multi-sensor Fusion according to claim 4, which is characterized in that step
In rapid S3, when being obtained from the collision time of vehicle and front obstacle in real time, and showing collision time and early warning by display device
Between threshold value, to driver carry out early warning；When collision time is less than pre-warning time threshold value, then pass through audio alarm
Warning note is carried out to driver.
6. a kind of automatic emergency brake method based on Multi-sensor Fusion according to any one of claim 3 to 5,
It is characterized in that, in step S4, distant place barrier is detected by millimetre-wave radar, in barrier approximate procedure, is hindered from vehicle and front
The relative distance between object is hindered constantly to reduce, until obtaining in ultrasonic radar investigative range in ultrasonic radar investigative range
Barrier with respect to vehicle central axes lateral distance Dis_x；
Compare the size of Dis_x Yu disx value, if-disx≤Dis_x≤disx, target then judges to hinder within the scope of screening
Hindering object is from the obstacle target in vehicle driving trace；
Meanwhile comparing the size of Dis_X Yu Dis_x value, if | Dis_X-Dis_x | < 0.2m is judged as same barrier, holds
It is continuous to do barrier and approach identification.
7. a kind of automatic emergency brake method based on Multi-sensor Fusion according to claim 6, which is characterized in that institute
The specific method for stating step S4 includes: the size for comparing collision time Yu preset emergency braking threshold value, if collision time
Greater than emergency braking threshold value, then control system will not do braking processing；If collision time is less than emergency braking threshold value, judgement is driven
It sails personnel and whether makes and effectively avoid collision operation, if driver, which makes, effectively avoids collision operation, control system
Braking processing will not be done；If driver, which does not make, effectively avoids collision operation, control system is made promptly to from vehicle
Braking processing.
8. a kind of automatic emergency brake method based on Multi-sensor Fusion according to claim 7, which is characterized in that sentence
Whether disconnected driver makes the effective specific method for avoiding collision operation: being less than emergency braking threshold value in collision time
When, steering modulating signal is judged whether there is, turns to modulating signal if it exists, then control system will not do braking processing；If it does not exist
Modulating signal is turned to, then judges whether there is steering wheel angle, if it exists steering wheel angle, then control system will not be done at braking
Reason；Steering wheel angle if it does not exist, then control system makes emergency braking processing to from vehicle.
9. a kind of automatic emergency brake method based on Multi-sensor Fusion according to claim 7 or 8, feature exist
In step S4 further includes the height for determining speed, is being in high-speed travel state from vehicle, and collision time is greater than emergency braking threshold
When value, control system also carries out the judgement of safe distance, judges whether front obstacle is more than relatively preset from the distance of vehicle
Safety distance threshold, if relative distance is more than preset safety distance threshold, control system will not do braking processing；If opposite
Distance is less than preset safety distance threshold, then control system makes slight braking processing to from vehicle.
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| CN110988881A (en) * | 2019-10-31 | 2020-04-10 | 惠州市德赛西威智能交通技术研究院有限公司 | Target detection method of vehicle-mounted millimeter wave radar and vehicle-mounted radar system thereof |
| CN111231949A (en) * | 2020-02-27 | 2020-06-05 | 江苏大学 | Anti-collision system and method for side road vehicle in heavy rain and dense fog weather |
| CN111361557A (en) * | 2020-02-13 | 2020-07-03 | 江苏大学 | Early warning method for collision accident during turning of heavy truck |
| CN111610531A (en) * | 2020-04-21 | 2020-09-01 | 吉利汽车研究院（宁波）有限公司 | Driving early warning method and device for vehicle and storage medium |
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