CN107139921B - A kind of steering collision-proof method and system for vehicle - Google Patents

Abstract

The invention discloses a steering anti-collision method and system for vehicles, and relates to the field of vehicle safety. The steering anti-collision method for a vehicle includes determining that there is a risk of collision at the front of the vehicle and a changeable lane determined by the vehicle according to the lane line information; determining that the changeable lane does not affect a lane change target; Steering of the vehicle is automatically controlled to avoid the risk of collision. The invention also provides a corresponding system. The present invention detects the lane line information in front of the vehicle and determines the changeable lane according to the lane line information, not only can judge whether the vehicle can turn to avoid collision, but also can judge whether the adjacent lane is suitable for turning to avoid collisions in front of the vehicle. The occurrence of other dangers other than collision has effectively improved the safety performance of the vehicle.

Description

A steering anti-collision method and system for a vehicle

technical field

The invention relates to the field of vehicle safety, in particular to a steering anti-collision method and system for vehicles.

Background technique

At present, in terms of active safety collision avoidance of vehicles, especially when there is a risk of collision in front of the target vehicle, warning, braking and steering are mainly used to avoid collision. Warnings mainly rely on sound, light or short braking to remind the driver that the danger has come, and the driver needs to take manual measures to avoid the danger. Braking relies on the vehicle's body stabilization system to execute braking commands to achieve automatic braking of the vehicle. Steering avoids collisions by automatically changing lanes.

However, due to the untimely response of the driver or the limitation of the system function, the two methods of warning and braking, especially braking, only rely on braking to reduce the speed of the vehicle to avoid collisions, so the danger is not really eliminated, so accidents cannot be effectively avoided. happened. Steering only judges whether the vehicle can change lanes by detecting whether the adjacent lane has an impact on the lane change target. When there is no impact on the lane change target, the vehicle will change lanes to avoid accidents.

Contents of the invention

The inventor found that the method of steering can avoid the occurrence of collisions to a certain extent, but only by detecting whether there is an object affecting the lane change in the adjacent lane to judge whether the vehicle can change lanes may cause greater danger, such as adjacent The lane is the lane of vehicles traveling in the opposite direction or the sidewalk on the side of the cliff on the winding road. Using the existing technology, when there is no lane-changing target in the lane of the vehicle traveling in the opposite direction or on the sidewalk near the cliff on the winding mountain road, the vehicle will automatically turn to avoid possible collisions ahead. However, according to the prior art, when the vehicle turns to the lane of the vehicle traveling in the opposite direction, the vehicle may collide more seriously with the vehicles on the lane of the vehicle traveling in the opposite direction. , the vehicle is likely to be in danger of falling off the cliff. In order to avoid the above dangers, in the method of steering to avoid collisions, the inventor added the content that the vehicle can determine the lane change according to the lane line information, and analyzed that the adjacent lane is the lane of the vehicle driving in the opposite direction or winding hills through the lane line information. When the road is close to the sidewalk on the side of the cliff (that is, the lane cannot be changed), the automatic steering of the vehicle is prohibited to avoid possible greater dangers.

Therefore, the object of the present invention is to provide a steering anti-collision method for a vehicle, which can greatly reduce other safety risks of the vehicle when steering to avoid a collision.

Another object of the present invention is to provide a steering anti-collision system for a vehicle, which can greatly reduce other safety risks of the vehicle when steering to avoid a collision, and effectively improve the safety performance of the vehicle.

In particular, the present invention provides a steering anti-collision method for a vehicle capable of detecting lane line information, including:

determining that the front of the vehicle has a collision risk and the vehicle can change lanes determined according to the lane line information;

Determining that the changeable lane does not affect the lane change target;

Steering of the vehicle is automatically controlled to avoid the risk of collision.

Further, the determining that there is a risk of collision at the front of the vehicle and the variable lane determined by the vehicle according to the lane line information are divided into two steps:

Detecting the lane line information in front of the vehicle and determining the changeable lane according to the lane line information;

determine that the front of the vehicle is at risk of collision; or

determining that the front of the vehicle is at risk of collision;

In the case of the collision risk, detecting the lane line information in front of the vehicle and determining the changeable lane according to the lane line information.

Further, the vehicle can also detect whether there is a no-overtaking sign in front of the vehicle, and only remind the driver to drive safely when the no-overtaking sign is detected;

Optionally, if it is determined according to the lane line information that there is no said changeable lane or/and there is said influencing lane change target, only the driver is reminded to drive safely.

Further, before automatically controlling the steering of the vehicle, a step of reminding the driver to manually take measures to avoid collision is also included.

Further, if the driver does not take any measures, it also includes a step of determining whether the changeable lane includes the adjacent lane on the left side of the vehicle.

Further, if the left adjacent lane of the vehicle is included, the vehicle is automatically controlled to turn left; if the left adjacent lane of the vehicle is not included, the vehicle is automatically controlled to turn right.

In particular, the present invention also provides a steering anti-collision system for a vehicle, comprising:

a target detection unit, configured to detect target information around the vehicle;

an image acquisition unit, configured to acquire lane line information and traffic sign information in front of the vehicle;

an image processing unit, configured to process the lane line information and the traffic sign information;

a central processing unit, configured to receive and process the target object information, the lane line information and the traffic sign information; and

The execution unit is used to automatically prompt the driver to drive safely or/and make the vehicle turn automatically to avoid the risk of collision.

Further, the target acquisition unit includes a first radar located at the front bumper of the vehicle, which is used to detect the speed of the target in front of the vehicle in the current lane and the distance from the vehicle;

Optionally, the first radar is an adaptive cruise radar.

Further, the target acquisition unit further includes a second radar and a third radar respectively located at the side and rear of the vehicle, for detecting the speed of the target in the adjacent lane at the side and rear of the vehicle, and the the distance and angle of the vehicle;

Optionally, the second radar and the third radar are blind spot monitoring system radars.

Further, the image acquisition unit is a camera, located at the interior rearview mirror of the vehicle, and used to acquire the lane line information and the traffic sign information in front of the vehicle;

Optionally, the camera is a camera of a lane departure warning system.

The steering anti-collision method and system for vehicles of the present invention, by detecting the lane line information in front of the vehicle and determining the changeable lane according to the lane line information, can not only judge whether the vehicle can turn to avoid collision, but also Whether the adjacent lane is suitable for turning to avoid other dangers except the collision in front of the vehicle, thus greatly reducing the accident rate during the driving process of the vehicle and effectively improving the safety performance of the vehicle.

Description of drawings

Hereinafter, some specific embodiments of the present invention will be described in detail by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar parts or parts. In the attached picture:

Fig. 1 is a working flow diagram of a steering anti-collision method for a vehicle according to an embodiment of the present invention;

FIG. 2 is a functional block diagram of a steering collision avoidance system for a vehicle according to an embodiment of the present invention.

Detailed ways

Fig. 1 is the working flow diagram of the steering anti-collision method for vehicle according to one embodiment of the present invention, as shown in Fig. 1, the steering anti-collision method for vehicle of the present invention can comprise the following steps:

S100. Determine that there is a risk of collision at the front of the vehicle and the vehicle can change lanes determined according to the lane line information;

S200, determining that the changeable lane does not affect the lane change target;

S300. Automatically control steering of the vehicle to avoid the collision risk.

The steering anti-collision method for vehicles of the present invention detects the lane line information in front of the vehicle and determines the changeable lane according to the lane line information, not only can judge whether the vehicle can turn to avoid collision, such as the lane line is white If there is a single solid line, it is not possible to turn; it can also be judged whether the adjacent lane is suitable for turning to avoid other dangers except the collision in front of the vehicle. If the lane line is double yellow lines, it is not suitable for turning. If the lane line is The white single solid line may be the sidewalk near the cliff side of the winding mountain road, which is not suitable for turning, thus greatly reducing the accident rate during the driving process of the vehicle and effectively improving the safety performance of the vehicle.

Specifically, the determining that there is a collision risk in front of the vehicle and the changeable lane determined by the vehicle according to the lane line information can be divided into two steps: the first step is to detect the front of the vehicle. lane line information and determine the changeable lane according to the lane line information; the second step is to determine that the front of the vehicle has a collision risk. That is, during the operation of the vehicle, the vehicle has been detecting the lane line information and determining the lane changeable, and at the same time has been confirming whether there is a risk of collision at the front of the vehicle. Lane changing, which greatly saves the time of detecting lane lines and confirming that lanes can be changed, which is conducive to improving vehicle safety.

Of course, the order of the above two steps can be reversed, and if it is determined that there is a risk of collision, then detect the lane line information in front of the vehicle and determine the changeable lane according to the lane line information. In this way, the vehicle does not need to detect the lane line all the time and confirm that the lane can be changed, which is beneficial to save detection resources and computing resources.

Further, the vehicle can also detect whether there is a no-overtaking sign in front of the vehicle, and if the no-overtaking sign is detected, it only reminds the driver to drive safely; of course, it is determined according to the lane line information that there is no overtaking sign. Can change lane or/and under the situation that there is described influence lane change target, also can only remind the driver to drive a vehicle safely.

In one embodiment of the present invention, before automatically controlling the steering of the vehicle, a step S400 of reminding the driver to take manual measures to avoid collisions and a step S500 of judging whether the driver has taken manual measures may also be included. If the driver manually takes measures, such as braking the vehicle, the vehicle continues to drive under the driver's operation. If the driver does not take any measures, the steering of the vehicle is automatically controlled.

In another embodiment of the present invention, if the driver does not take any measures, a step of determining whether the changeable lane includes the left adjacent lane of the vehicle may also be included. In the case of including the left adjacent lane of the vehicle, automatically control the vehicle to turn left; in the case of not including the left adjacent lane of the vehicle, automatically control the vehicle to turn right.

In particular, FIG. 2 is a functional block diagram of a steering collision avoidance system for a vehicle according to an embodiment of the present invention. As shown in FIG. 2 , a steering anti-collision system for a vehicle is provided, which generally includes a target detection unit 10 , an image acquisition unit 20 , an image processing unit 30 , a central processing unit 40 and an execution unit 50 . The target detection unit 10 is used to detect target information around the vehicle; the image acquisition unit 20 is used to acquire lane line information and traffic sign information in front of the vehicle; the image processing unit 30 is used to process the lane line information and the traffic sign information; the central processing unit 40 is used to receive and process the target object information, the lane line information and the traffic sign information; the execution unit 50 is used to automatically prompt the driver to drive safely or/and use The vehicle steers automatically to avoid the risk of a collision.

Through the above settings, especially the acquisition of lane line information, not only can it be judged whether the vehicle can turn to avoid a collision, but also whether the adjacent lane is suitable for turning to avoid the occurrence of other dangers except the collision in front of the vehicle, thus greatly The accident rate during the driving process of the vehicle is reduced, and the safety performance of the vehicle is effectively improved.

Specifically, the target acquisition unit 10 may include a first radar located at the front bumper of the vehicle, which is used to detect the speed of the target in front of the vehicle in the lane and the distance to the vehicle. ; Here, the first radar may be an adaptive cruise radar, which can detect target information within 160 meters in front of the vehicle. The target acquisition unit 10 may also include a second radar and a third radar respectively located at the side and rear of the vehicle, for detecting the speed of the target in the adjacent lane behind the vehicle, and the speed of the vehicle. distance and angle; here, the second radar and the third radar may be blind spot monitoring system radars, which can detect target information within 70 meters behind the vehicle. The image acquisition unit 20 may be a camera, located at the interior rearview mirror of the vehicle, for acquiring the lane line information and the traffic sign information in front of the vehicle; here, the camera may be The camera of the lane departure warning system can acquire the lane line information and the traffic sign information within 60 meters ahead of the vehicle. Because the hardware devices used in the system are equipped with the vehicle itself, the realization of the system's functions does not increase the hardware cost of the vehicle, so the system has a good application prospect.

Further, in an embodiment of the present invention, the central control unit 40 can be integrated at the first radar, and the second radar, the third radar and the camera are used as sensors, so that the central control unit 40 can Receive the information detected by the second radar, the third radar and the camera and combine the detection data of the first radar, and comprehensively process the above data, make corresponding judgments and take corresponding measures, such as whether there is a collision Risk, whether there is a sign prohibiting lane change or overtaking, whether there is a target that affects lane change, if there is a target that affects lane change, then whether the target that affects lane change is on the left or right side of the vehicle; when the vehicle needs to turn to avoid a collision accident When it happens, the steering system of the vehicle is automatically controlled to steer; when it is necessary to remind the driver to drive safely, the sound and light alarm and/or image alarm system of the vehicle is automatically controlled to remind the driver to drive safely.

It should be especially noted that when controlling the vehicle to change lanes, if there is no target affecting the lane change, then the system will give priority to changing lanes to the left. The system will choose to change lanes to the right only if there is no target affecting the lane change.

So far, those skilled in the art should appreciate that, although a number of exemplary embodiments of the present invention have been shown and described in detail herein, without departing from the spirit and scope of the present invention, the disclosed embodiments of the present invention can still be used. Many other variations or modifications consistent with the principles of the invention are directly identified or derived from the content. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims (11)

1. A steering anti-collision method for a vehicle, the vehicle can detect lane line information, comprising: determining that the front of the vehicle has a collision risk and the vehicle can change lanes determined according to the lane line information; Determining that the changeable lane does not affect the lane change target; automatically steering said vehicle to avoid said risk of collision; Before automatically controlling the steering of the vehicle, it also includes the step of reminding the driver to manually take measures to avoid collision; If no action is taken by the driver, further comprising the step of determining whether the changeable lane includes an adjacent lane to the left of the vehicle; In the case of including the left adjacent lane of the vehicle, automatically control the vehicle to turn left; in the case of not including the left adjacent lane of the vehicle, automatically control the vehicle to turn right. 2. The steering anti-collision method for a vehicle according to claim 1, characterized in that said determining that the front of the vehicle has a collision risk and the variable lane division determined by the vehicle according to the lane line information for two steps: Detecting the lane line information in front of the vehicle and determining the changeable lane according to the lane line information; determine that the front of the vehicle is at risk of collision; or determining that the front of the vehicle is at risk of collision; In the case of the collision risk, detecting the lane line information in front of the vehicle and determining the changeable lane according to the lane line information. 3. The steering anti-collision method for vehicle according to claim 1 or 2, characterized in that, The vehicle can also detect whether there is a no-overtaking sign in front of the vehicle, and only remind the driver to drive safely when the no-overtaking sign is detected. 4. The steering anti-collision method for a vehicle according to claim 3, characterized in that, if it is determined according to the lane line information that there is no said changeable lane or/and there is said influencing lane change target, only the driver is reminded Drivers drive safely. 5. A steering collision avoidance system for a vehicle, comprising: a target detection unit, configured to detect target information around the vehicle; an image acquisition unit, configured to acquire lane line information and traffic sign information in front of the vehicle; an image processing unit, configured to process the lane line information and the traffic sign information; a central processing unit, configured to receive and process the target object information, the lane line information and the traffic sign information; and The execution unit is used to automatically prompt the driver to drive safely or/and make the vehicle turn automatically to avoid the risk of collision. 6. The steering anti-collision system for a vehicle according to claim 5, wherein the target acquisition unit includes a first radar located at the front bumper of the vehicle for detecting objects in the lane. The speed of the target object in front of the vehicle and the distance from the vehicle. 7. The steering collision avoidance system for a vehicle according to claim 6, wherein the first radar is an adaptive cruise radar. 8. The steering anti-collision system for a vehicle according to any one of claims 5-7, wherein the target acquisition unit further includes a second radar and a third radar respectively positioned behind the vehicle side , for detecting the speed, distance and angle of the target object in the adjacent lane behind the vehicle side and the vehicle. 9 . The steering anti-collision system for vehicles according to claim 8 , wherein the second radar and the third radar are blind spot monitoring system radars. 10. The steering anti-collision system for a vehicle according to any one of claims 5-7, 9, characterized in that the image acquisition unit is a camera located at the interior rearview mirror of the vehicle, It is used to acquire the lane line information and the traffic sign information in front of the vehicle. 11. The steering anti-collision system for a vehicle according to claim 10, wherein the camera is a camera of a lane departure warning system.