CN110329259A - A kind of vehicle automatic following system and its method based on Multi-sensor Fusion - Google Patents
A kind of vehicle automatic following system and its method based on Multi-sensor Fusion Download PDFInfo
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- 238000004891 communication Methods 0.000 claims abstract description 41
- 238000001514 detection method Methods 0.000 claims description 34
- 239000003595 mist Substances 0.000 claims description 26
- 230000007613 environmental effect Effects 0.000 claims description 14
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Classifications
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- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- 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
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- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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Abstract
The present invention provides a kind of vehicle automatic following system and its method based on Multi-sensor Fusion, from vehicle by the millimetre-wave radar and ultrasonic radar, camera and vehicle vehicle communication system of installation respectively obtained from vehicle and front truck status information, then different weight distributions is carried out according to different state of weather and network state, obtain the relative velocity and relative distance of final two vehicle, then weighting collision time is calculated, holding is finally followed according to different carry out spacings, is arrived at the destination until from vehicle.The present invention is merged by multiple sensors, and by dividing to network condition and working sensor condition, carries out weight distribution to the data obtained under different condition, so that it is more accurate real-time to obtain data.
Description
Technical field
The invention belongs to automobile technical fields, and in particular to a kind of vehicle automatic following system based on Multi-sensor Fusion
And its method.
Background technique
Presently, there are most of ACC follow the bus systems be all the simple phase that vehicle to front truck is obtained from by millimetre-wave radar
It adjusts the distance and relative velocity, millimetre-wave radar detection performance will receive the influence of weather reason and cause detecting distance inaccurate, and
And will appear short distance check frequency, it is easy to that traffic accident occurs when follow the bus is closer.And with the development of 5G technology, V2V
(vehicle vehicle communication system) also starts to be applied to vehicle ACC system, but since technology is immature, different zones network signal
Intensity is different, will also result in the communication time lag between vehicle vehicle, causes to obtain distance and actual range deviation.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of vehicle automatic following system based on Multi-sensor Fusion
And its method, it is obtained respectively from vehicle by the millimetre-wave radar and ultrasonic radar, camera and vehicle vehicle communication system of installation
From vehicle and front truck status information, different weight distributions is then carried out according to different state of weather and network state, is obtained
Then the relative velocity and relative distance of final two vehicle calculate weighting collision time, are finally followed according to different carry out spacings
It keeps, is arrived at the destination until from vehicle.
The present invention adopts the following technical scheme:
A kind of vehicle automatic following system based on Multi-sensor Fusion, comprising:
Environmental information sension unit, including multiple sensors, for being obtained from vehicle to the relative distance of front truck and relatively fast
Degree, and obtain the external environmental factor for influencing multiple sensing datas；
Decision Control unit, for receiving the data of multiple sensors, according to external environmental factor to obtain it is opposite away from
It is weighted and averaged from relative velocity, when calculating collision time, and judging whether the collision time is more than preset early warning
Between threshold value；
Wherein, if collision time is more than threshold value, control accelerates from vehicle；If collision time is less than threshold value, control is certainly
Vehicle braking deceleration.
Preferably, the environmental information sension unit includes:
Radar Detection module, for being obtained from the relative distance and relative velocity of vehicle to front truck by radar wave；
Camera module, for being obtained from the relative distance and relative velocity of vehicle to front truck by video acquisition；
V2V communication system module carries out real-time communication from vehicle and front truck, and front truck in real time passes location information and velocity information
To from vehicle, from vehicle according to obtained information, by the way that relative distance and relative velocity from vehicle to front truck is calculated；
Weather detects judgment module, for influence Radar Detection module, the rain of camera module data, mist weather condition
It is judged；
Network judgment module, for judging the network transmission quality from vehicle and front truck real-time communication.
Preferably, the Radar Detection module includes millimetre-wave radar and ultrasonic radar, the millimetre-wave radar installation
In the middle position of vehicle front bumper, for detecting the region from 3~150 meters of front side distance；The ultrasonic radar pair
Claim the two sides for being mounted on front bumper, detects from 20~400 centimetres of front side distance of region；Radar Detection module passes through millimeter
Wave radar and ultrasonic radar mutually compensate the relative distance and relative velocity for being obtained from vehicle to front truck.
Preferably, the Decision Control unit includes:
Center ECU controller, for receiving the relative distance information and relative velocity of each module；It is detected according to weather
The quality of rain, greasy weather gas that judgment module is judged determines ratio shared by radar and camera the data obtained, is sentenced according to network
The quality of the network transmission quality that disconnected module is judged determines that V2V communication system module obtains ratio shared by data, to obtaining
Relative distance and relative velocity be weighted and averaged, calculate collision time；Judge whether collision time is greater than threshold value, if then
It is judged as collisionless danger, signal is given to accelerator actuating mechanism；If being otherwise judged as has certain risk of collision, signal is given
To brake actuator；
Accelerator actuating mechanism is executed for receiving collisionless danger signal to the operation accelerated from vehicle；
Brake actuator has certain cross signal for receiving, and executes to the operation from vehicle braking deceleration.
The invention also discloses a kind of automatic follower methods of the vehicle based on Multi-sensor Fusion, include the following steps:
S1, the relative distance and relative velocity that vehicle to front truck is obtained from by multiple sensors, and obtain the multiple biographies of influence
The external environmental factor of sensor data；
S2, obtained relative distance and relative velocity are weighted and averaged according to external environmental factor, according to what is obtained
It weights relative distance and weighting relative velocity calculates collision time；
S3, judge whether the collision time is more than preset pre-warning time threshold value, wherein if collision time is more than threshold
Value is then issued from vehicle acceleration signals；If collision time is less than threshold value, issue from vehicle braking deceleration signal；
S4, step S1, S2, S3 are repeated, arrived safe and sound destination until from vehicle.
Preferably, the step S1 includes:
The relative distance D of vehicle to front truck is obtained from by Radar Detection modulelWith relative velocity Vl；
The relative distance D of vehicle to front truck is obtained from by camera modulecWith relative velocity Vc；
The relative distance D from vehicle to front truck is calculated by V2V communication system moduletWith relative velocity Vt；
Judgment module is detected to influence Radar Detection module, the rain of camera module data, mist weather condition by weather
It is judged；
The network transmission quality from vehicle and front truck real-time communication is judged by network judgment module；
The relative distance information and relative velocity of each module are transmitted to center ECU controller by CAN communication mode.
Preferably, the Radar Detection module is using millimetre-wave radar and the mutual compensation way of ultrasonic radar, millimeter wave
From 3~150 meters of front side distance of region, ultrasonic radar is detected from 20~400 centimetres of front side distance of area detections of radar
Domain, it is D that the relative distance for being obtained from vehicle to front truck is mutually compensated by millimetre-wave radar and ultrasonic radarlWith relative velocity Vl。
Preferably, the step S3 includes:
Center ECU controller detects judgment module according to weather and determines Radar Detection module to the judge of rain, mist size
With ratio shared by the obtained relative distance of camera module and relative velocity；
Center ECU controller determines V2V communication system to the judge of network transmission quality quality according to network judgment module
Ratio shared by the obtained relative distance of module of uniting and relative velocity；
According to weight shared by each detection module, obtained relative distance and relative velocity are weighted and averaged；
Collision time TTC is calculated according to obtained weighting relative distance and weighting relative velocity.
The step S3 is specifically included:
To there is mist environment to be classified, it is divided into fogless, mist, middle mist and dense fog, wherein mist is to obtained by Radar Detection module
Weight shared by data influence is denoted as:
Wl1={ fogless, mist, middle mist, dense fog }={ Wa1, Wa2, Wa3, Wa4}； (1)
Weight shared by influence of the mist to camera module the data obtained is denoted as:
Wc1={ fogless, mist, middle mist, dense fog }={ Wb1, Wb2, Wb3, Wb4}； (2)
Rainy environment is classified, is divided into no rain, light rain, moderate rain and heavy rain, moderate rain is to obtained by Radar Detection module
Weight shared by the influence of data is denoted as:
Wl2={ no rain, light rain, moderate rain, heavy rain }={ Wd1, Wd2, Wd3, Wd4}； (3)
Weight shared by influence of the rain to camera module the data obtained is denoted as:
Wc2={ no rain, light rain, moderate rain, heavy rain }={ We1, We2, We3, We4}； (4)
Communication quality is classified, is divided into that communication quality is very good, and communication quality is general, and communication quality is poor, in communication
Disconnected, weight shared by influence of the communication quality to V2V communication system module the data obtained is denoted as:
Wt=it is very good, it is generally, poor, interrupt={ Wf1, Wf2, Wf3, Wf4}。 (5)
Weight shared by each detection module is judged according to weather judgment module and network communications quality module, to
To relative distance and relative velocity be weighted and averaged, obtain final relative distance DfWith relative velocity Vf:
Wherein, i=1,2,3,4.
Collision time TTC is calculated according to obtained final weighting relative distance and relative velocity:
It preferably, further include preset first speed threshold value and the second speed threshold value in the step S4, when the early warning
Between threshold value include first time threshold, second time threshold and third time threshold；
Whether judgement is currently from vehicle speed more than the first speed threshold value, if more than the first speed threshold value, when judging collision
Between TTC whether be more than first time threshold；If being less than the first speed threshold value, judge currently from vehicle speed whether more than second
Speed threshold value, if judging whether collision time TTC is more than second time threshold more than the second speed threshold value, if being less than
Two speed threshold values then judge whether collision time TTC is more than third time threshold；
Wherein, if collision time is more than threshold value, center ECU controller issues accelerator actuating mechanism and instructs, and throttle is held
Row mechanism, which is executed from vehicle, to be accelerated to operate；If collision time is less than threshold value, center ECU controller issues brake actuator
Instruction, brake actuator is executed to be operated from vehicle braking deceleration.
Beneficial effects of the present invention:
(1) present invention is merged by millimetre-wave radar and ultrasonic radar, and the short distance occurred to millimetre-wave radar is blind
Area is made up, so that radar data obtains system more complete and accurate non-blind area；
(2) it obtains data by car networking system to be merged with traditional sensors data, each system can be according to difference
Operating condition have complementary advantages, it is ensured that ring intelligent vehicle ACC system can also operate normally under the conditions of non-good；
(3) by being divided to network condition and working sensor condition, to the data obtained under different condition into
Row weight distribution, so that it is more accurate real-time to obtain data.
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 overall structure frame diagram of present system；
Fig. 2 is schematic view of the mounting position of each sensor of the present invention on vehicle；
Fig. 3 is the work flow diagram of present system.
Specific embodiment
The invention discloses a kind of vehicle automatic following system based on Multi-sensor Fusion, mainly include environmental information
Perception and Decision Control two large divisions, wherein environmental information perception part mainly include Radar Detection module, camera module,
V2V communication system module, weather detection judgment module and network judgment module；Decision Control part mainly include vehicle ECU and
To the executing agency of throttle and braking system.
It is described in further detail below in conjunction with 1,2,3 pair of the invention patent of specific embodiments and drawings.
Step 1: acquisition of each sensor to relative distance and relative velocity
The calculation that Radar Detection module is compensated mutually using millimetre-wave radar 4 and left ultrasonic radar 3, right ultrasonic radar 5
Method obtains relative distance and relative velocity, and millimetre-wave radar detection zone is S2, detecting distance D2 is 3~150 meters, in short distance
From context of detection, there are check frequencies, and the detection zone of ultrasonic radar is S1, and the distance D1 that can accurately detect is 20
~400 centimetres, so millimetre-wave radar 4 is pacified in the radar ranging system mutually compensated using millimetre-wave radar with ultrasonic radar
Mounted in liftoff 50~80 centimetres of the middle position of vehicle front bumper, left ultrasonic radar 3, right ultrasonic radar 5 are symmetrically installed
In front bumper two sides；It is D by the relative distance from vehicle to front truck that radar mutually compensates acquisitionl, relative velocity Vl。
Camera module uses CCD camera 2, is mounted on from Chinese herbaceous peony windshield middle position, camera part can be real
Existing 0~100 meter of all standing, get from the relative distance of vehicle and front truck be Dc, relative velocity Vc。
V2V communication system module is mounted on car top position, can carry out real-time communication from vehicle and front truck, front truck can be real-time
Location information and velocity information are transmitted to from vehicle, from vehicle according to obtained information, by the way that the phase from vehicle and front truck is calculated
It adjusts the distance as Dt, relative velocity Vt。
The relative distance information and relative velocity of each module obtained are transmitted to center by CAN communication mode
It waits and being further processed in ECU controller.
Step 2: each sensor obtains the weight calculation of relative distance and relative velocity
Radar and camera module are mainly influenced by weather environment, such as rain and snow, mist, while rain, mist is of different sizes
Influencing caused by radar and camera also can be different, and weather detection judgment module mainly carries out the external environment travelled from vehicle
It judges, ratio shared by radar and camera the data obtained is determined according to the quality of working environment.V2V communication system module master
It leans between network and is transmitted, the speed of network signal directly determines the real-time accuracy of transmitted data, so Che Chetong
News module obtains weight shared by data and is determined by network strength.
Radar and camera are mainly influenced by rain, mist, first to there is mist environment to be classified, are divided into fogless, mist, middle mist
And dense fog, wherein the mist weight shared on the influence of radar the data obtained is denoted as:
Wl1={ fogless, mist, middle mist, dense fog }={ Wa1, Wa2, Wa3, Wa4}； (9)
Weight shared by influence of the mist to camera module the data obtained is denoted as:
Wc1={ fogless, mist, middle mist, dense fog }={ Wb1, Wb2, Wb3, Wb4}； (10)
Then rainy environment is classified, is divided into no rain, light rain, moderate rain and heavy rain, moderate rain is to radar the data obtained
Shared weight is influenced to be denoted as:
Wl2={ no rain, light rain, moderate rain, heavy rain }={ Wd1, Wd2, Wd3, Wd4}； (11)
Weight shared by influence of the rain to camera module the data obtained is denoted as:
Wc2={ no rain, light rain, moderate rain, heavy rain }={ We1, We2, We3, We4}； (12)
It for V2V communication module, is mainly influenced by communication quality, communication quality is classified, be divided into logical
News quality is very good, and communication quality is general, and communication quality is poor, communicating interrupt, and communication quality is to vehicle vehicle communication module the data obtained
The weight of influence is denoted as:
Wt=it is very good, it is generally, poor, interrupt={ Wf1, Wf2, Wf3, Wf4}。 (13)
Weight shared by each detection module is judged according to weather judgment module and network communications quality module, to
To relative distance and relative velocity be weighted and averaged, obtain final relative distance DfWith relative velocity Vf:
Wherein, i=1,2,3,4.
Step 3: when Multi-sensor Fusion collision is calculated according to obtained final weighting relative distance and relative velocity
Between TTC, then carry out Decision Control:
The size setting of collision time can neither it is excessive can not be too small, if TTC is excessive will cause following distance for setting
It is excessive, it will cause traffic congestion, the too small following distance that will cause of setting is excessively close, encounters emergency case and easily causes traffic thing
Therefore it so determines to determine follow-up strategy using from vehicle speed and TTC.
When from vehicle speed V >=60km/h, collision time is set to 1.5s, as the TTC > 1.5s being calculated, collisionless
Danger can suitably accelerate from vehicle, reduce spacing to improve same line efficiency；There is certain risk of collision as TTC < 1.5s, from
Vehicle should carry out appropriate braking deceleration.
When from vehicle speed 30km/h=<V<60km/h, collision time is set to 1.2s, as the TTC>1.2s being calculated
When, collisionless is dangerous, can suitably accelerate from vehicle, reduces spacing to improve same line efficiency；There is certain touch as TTC < 1.2s
Danger is hit, appropriate braking deceleration should be carried out from vehicle.
When from vehicle speed V<30km/h, collision time is set to 1s, and as the TTC>1s being calculated, collisionless is dangerous,
It can suitably accelerate from vehicle, reduce spacing to improve same line efficiency；There is certain risk of collision as TTC < 1s, it should be into from vehicle
The appropriate braking deceleration of row.
Step 1 is repeated to three, arrived safe and sound destination until 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 vehicle automatic following system based on Multi-sensor Fusion characterized by comprising
Environmental information sension unit, including multiple sensors, for being obtained from the relative distance and relative velocity of vehicle to front truck, with
And obtain the external environmental factor for influencing multiple sensing datas；
Decision Control unit, for receiving the data of multiple sensors, according to external environmental factor to obtained relative distance and
Relative velocity is weighted and averaged, and calculates collision time, and judge whether the collision time is more than preset pre-warning time threshold
Value；
Wherein, if collision time is more than threshold value, control accelerates from vehicle；If collision time is less than threshold value, control from vehicle system
It is dynamic to slow down.
2. a kind of vehicle automatic following system based on Multi-sensor Fusion according to claim 1, which is characterized in that institute
Stating environmental information sension unit includes:
Radar Detection module, for being obtained from the relative distance and relative velocity of vehicle to front truck by radar wave；
Camera module, for being obtained from the relative distance and relative velocity of vehicle to front truck by video acquisition；
V2V communication system module carries out real-time communication from vehicle and front truck, and location information and velocity information are transmitted to certainly by front truck in real time
Vehicle, from vehicle according to obtained information, by the way that relative distance and relative velocity from vehicle to front truck is calculated；
Weather detects judgment module, for carrying out to influence Radar Detection module, the rain of camera module data, mist weather condition
It judges；
Network judgment module, for judging the network transmission quality from vehicle and front truck real-time communication.
3. a kind of vehicle automatic following system based on Multi-sensor Fusion according to claim 2, which is characterized in that institute
Stating Radar Detection module includes millimetre-wave radar and ultrasonic radar, and the millimetre-wave radar is mounted in vehicle front bumper
Between position, for detecting the region from 3~150 meters of front side distance；The ultrasonic radar is symmetrically mounted on front bumper
Two sides are detected from 20~400 centimetres of front side distance of region；Radar Detection module passes through millimetre-wave radar and ultrasonic radar
Mutually compensate the relative distance and relative velocity for being obtained from vehicle to front truck.
4. a kind of vehicle automatic following system based on Multi-sensor Fusion according to claim 2 or 3, feature exist
In the Decision Control unit includes:
Center ECU controller, for receiving the relative distance information and relative velocity of each module；It is detected and is judged according to weather
The quality of rain, greasy weather gas that module is judged determines ratio shared by radar and camera the data obtained, judges mould according to network
The quality for the network transmission quality that block is judged determines that V2V communication system module obtains ratio shared by data, to obtained phase
It adjusts the distance and is weighted and averaged with relative velocity, calculate collision time；Judge whether collision time is greater than threshold value, if then judging
For collisionless danger, signal is given to accelerator actuating mechanism；If being otherwise judged as has certain risk of collision, signal is given to system
Dynamic executing agency；
Accelerator actuating mechanism is executed for receiving collisionless danger signal to the operation accelerated from vehicle；
Brake actuator has certain cross signal for receiving, and executes to the operation from vehicle braking deceleration.
5. a kind of automatic follower method of vehicle based on Multi-sensor Fusion, which comprises the steps of:
S1, the relative distance and relative velocity that vehicle to front truck is obtained from by multiple sensors, and obtain the multiple sensors of influence
The external environmental factor of data；
S2, obtained relative distance and relative velocity are weighted and averaged according to external environmental factor, according to obtained weighting
Relative distance and weighting relative velocity calculate collision time；
S3, judge whether the collision time is more than preset pre-warning time threshold value, wherein if collision time is more than threshold value,
It issues from vehicle acceleration signals；If collision time is less than threshold value, issue from vehicle braking deceleration signal；
S4, step S1, S2, S3 are repeated, arrived safe and sound destination until from vehicle.
6. the automatic follower method of a kind of vehicle based on Multi-sensor Fusion according to claim 5, which is characterized in that institute
Stating step S1 includes:
The relative distance and relative velocity of vehicle to front truck are obtained from by Radar Detection module；
The relative distance and relative velocity of vehicle to front truck are obtained from by camera module；
The relative distance and relative velocity from vehicle to front truck are calculated by V2V communication system module；
Judgment module is detected by weather to carry out to Radar Detection module, the rain of camera module data, mist weather condition is influenced
It judges；
The network transmission quality from vehicle and front truck real-time communication is judged by network judgment module；
The relative distance information and relative velocity of each module are transmitted to center ECU controller by CAN communication mode.
7. the automatic follower method of a kind of vehicle based on Multi-sensor Fusion according to claim 6, which is characterized in that institute
Radar Detection module is stated using millimetre-wave radar and the mutual compensation way of ultrasonic radar, millimetre-wave radar detection from front side away from
Region from 3~150 meters, ultrasonic radar detection from 20~400 centimetres of front side distance of region, by millimetre-wave radar with
Ultrasonic radar mutually compensates the relative distance for being obtained from vehicle to front truck.
8. the automatic follower method of a kind of vehicle based on Multi-sensor Fusion according to claim 6 or 7, feature exist
In the step S2 includes:
Center ECU controller determines Radar Detection module according to the quality of the rain of weather detection judgment module judge, greasy weather gas
With ratio shared by the obtained relative distance of camera module and relative velocity；
The quality for the network transmission quality that center ECU controller is judged according to network judgment module determines V2V communication system mould
Ratio shared by the obtained relative distance of block and relative velocity；
According to weight shared by each detection module, obtained relative distance and relative velocity are weighted and averaged；
Collision time TTC is calculated according to obtained weighting relative distance and weighting relative velocity.
9. the automatic follower method of a kind of vehicle based on Multi-sensor Fusion according to claim 8, which is characterized in that institute
Stating in step S3 further includes preset first speed threshold value and the second speed threshold value, and the pre-warning time threshold value includes at the first time
Threshold value, second time threshold and third time threshold；
Whether judgement is currently from vehicle speed more than the first speed threshold value, if judging that collision time is more than the first speed threshold value
No is more than first time threshold；If being less than the first speed threshold value, judge currently from vehicle speed whether more than the second speed threshold
Value, if judging whether collision time is more than second time threshold more than the second speed threshold value, if being less than the second speed threshold
Value, then judge whether collision time is more than third time threshold；
Wherein, if collision time is more than threshold value, center ECU controller issues accelerator actuating mechanism and instructs, and throttle executes machine
Structure, which is executed from vehicle, to be accelerated to operate；If collision time is less than threshold value, center ECU controller refers to brake actuator sending
It enables, brake actuator is executed to be operated from vehicle braking deceleration.
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| CN112660054A (en) * | 2021-01-05 | 2021-04-16 | 北京家人智能科技有限公司 | Method and device for triggering external airbags in grading manner and electronic equipment |
| CN112837527A (en) * | 2019-11-22 | 2021-05-25 | 罗伯特·博世有限公司 | Object recognition system and method thereof |
| CN113177428A (en) * | 2020-01-27 | 2021-07-27 | 通用汽车环球科技运作有限责任公司 | Real-time active object fusion for object tracking |
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