CN107399290A - Safe driving assistant system and its control method - Google Patents
Safe driving assistant system and its control method Download PDFInfo
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- CN107399290A CN107399290A CN201610342261.0A CN201610342261A CN107399290A CN 107399290 A CN107399290 A CN 107399290A CN 201610342261 A CN201610342261 A CN 201610342261A CN 107399290 A CN107399290 A CN 107399290A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 230000008034 disappearance Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 7
- 230000001960 triggered effect Effects 0.000 claims description 5
- 206010039203 Road traffic accident Diseases 0.000 description 11
- 238000012545 processing Methods 0.000 description 6
- 238000005070 sampling Methods 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
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- 230000000903 blocking effect Effects 0.000 description 1
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- 241000894007 species Species 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- 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
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Radar, Positioning & Navigation (AREA)
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Abstract
The present invention proposes a kind of safe driving assistant system and its control method.The safe driving assistant system includes：Moving target detection portion, it is configured to detect the mobile target in main vehicle periphery preset range and state parameter corresponding with the movement target is stored in the storage part of the safe driving assistant system, and it is missing object to be also structured to will not be able to mobile object definition detecting again and/or can not directly detecting；Movement pattern portion, it is configured to search the state parameter corresponding with the missing object in the storage part, and the state parameter based on the missing object predicts the motion track of the missing object；Danger determining portion, it is configured to judge between the main vehicle and the missing object with the presence or absence of danger by comparing the prediction motion track of the missing object and the expection driving trace of the main vehicle；And danger early warning portion, it is configured to the result of determination based on the danger determining portion and performs danger early warning control.
Description
Technical field
Present invention relates in general to vehicle safety control field, more particularly to safe driving assistant system with
And the control method for the safe driving assistant system.
Background technology
At present, road traffic accident has become the public safety problem of getting worse in global range.
Also, the human factor of the driver of these road traffic accidents is caused mainly (to be driven including human factor
The person's of sailing fatigue driving, absent minded and pedestrian various traffic behaviors), environmental factor (road
The security setting of planar condition including traffic sign and lighting apparatus etc.) and vehicle factor (actively pacify
Full property and passive safety etc.).
Therefore, in order to reduce more traffic accidents, it will usually setting safe driving auxiliary on vehicle
Auxiliary system, such as collision warning systems etc., it can pass through radar, laser, ultrasonic wave, infrared ray
And the sensor technology such as machine vision detects to road environment, and then according to detected letter
Breath judges the possibility that collision occurs, so that when that may cause danger, it is timely to driver and pedestrian
Alarm.
But when detecting road environment, because some movement targets are (for example, pedestrian, bicycle
Even vehicle) it may be blocked or hidden by other objects, therefore the safe driving assistant system of vehicle
Also the real information or basic obtain that may can not just obtain these movement targets move mesh less than these
Any information of target, so that correct danger judging also can not be just made, so as to cause traffic accident
Occur.
The content of the invention
In order to solve the above technical problems, the present invention proposes a kind of shifting that can be blocked by prediction
The motion track of moving-target (being referred to below as missing object) judges between main vehicle and missing object
Whether the safe driving assistant system that may be caused danger, and also proposed auxiliary for the safe driving
The control method of auxiliary system.
According to an embodiment of the invention, it is proposed that a kind of safe driving assistant system, including mobile target
Test section, it is configured to detect the mobile target in main vehicle periphery preset range and will be with
State parameter corresponding to the movement target is stored in the storage part of the safe driving assistant system, and
Be also structured to will not be able to mobile object definition detecting again and/or can not directly detecting be
Missing object；Movement pattern portion, it is configured to search and the missing object in the storage part
Corresponding state parameter, and the state parameter based on the missing object predicts the shifting of the missing object
Dynamic rail mark；Danger determining portion, its be configured to by the prediction motion track that compares the missing object and
The expection driving trace of the main vehicle, to judge between the main vehicle and the missing object with the presence or absence of danger
Danger；And danger early warning portion, it is configured to the result of determination based on the danger determining portion and performs danger
Early warning controls.Therefore, according to the safe driving assistant system of the present invention, even in vehicle forward or fall
Occur missing object when moving back, also can be by predicting the motion track of the missing object, to judge this
With the presence or absence of dangerous (such as friction or collision etc.) between missing object and the main vehicle, and then
Danger early warning control is performed according to result of determination, so as to reduce the occurrence probability of traffic accident.
According to a preferred embodiment of the invention, the danger determining portion is also structured to when the missing object
When prediction motion track and the expection driving trace of the main vehicle cross, calculate the missing object and
Collision time between the main vehicle, and when the danger early warning portion is also structured to by the way that this is collided
Between be compared to perform different danger early warnings from multiple threshold values set in advance and control.Therefore, such as
The prediction motion track of the fruit missing object and the expection driving trace of the main vehicle cross, then this
Mean to cause danger between the main vehicle and the missing object, such as collision or friction etc..
In this case, can be to the missing object and the master according to the safe driving assistant system of the present invention
Collision time between vehicle is calculated, and different danger early warning controls is performed based on the collision time
System.For example, when the collision time is less than first threshold, pre-warning signal is sent；When the collision time
During less than or equal to Second Threshold, the main vehicle is controlled to realize Braking mode and/or auto-steering, this
Two threshold values are less than the first threshold；When the collision time is less than or equal to three threshold values, the main car is triggered
Passive safety system, the 3rd threshold value is less than the Second Threshold.
According to a preferred embodiment of the invention, the movement pattern portion is configured to work as the main vehicle row
Preset distance is sailed, the Moving target detection portion detects the missing object again, is detected away from first time
Time to the missing object is more than the first scheduled time length or big away from the time that the missing object disappears
When the second scheduled time length, stop predicting the motion track of the missing object.Therefore, according to this
The safe driving assistant system of invention, only the motion track of missing object is predicted, and will
Stop prediction in these cases, therefore wrong early warning can be reduced and calculating cost can be reduced, from
And improve the response of wagon control.
According to a preferred embodiment of the invention, the pre-warning signal includes vision pre-warning signal, sense of hearing early warning
Signal, tactile pre-warning signal and the signal of communication transmitted by via vehicle-to-vehicle communication.
According to a preferred embodiment of the invention, the vision pre-warning signal includes being shown in the aobvious of the main vehicle
The image of the missing object in display screen, acquired in before missing object disappearance.
According to still another embodiment of the invention, it is proposed that a kind of controlling party for safe driving auxiliary
Method, the control method comprise the following steps：Mobile target in main vehicle periphery preset range is carried out
State parameter corresponding with the movement target is detected and stored, and will not be able to detect again and/or
The mobile object definition that can not be directly detected is missing object；Search corresponding with the missing object
State parameter, and the state parameter based on the missing object predicts the moving rail of the missing object
Mark；By comparing the prediction motion track of the missing object and the expection driving trace of the main vehicle, come
Judge between the main vehicle and the missing object with the presence or absence of danger；And based on the danger determining portion
Result of determination performs danger early warning control.Therefore, according to the control method of the present invention, even in vehicle
Move ahead or missing object occur when falling back, also can by predicting the motion track of the missing object,
To judge to whether there is between the missing object and the main vehicle dangerous (such as friction or collision etc.),
And danger early warning control is performed then according to result of determination, it is several so as to reduce the generation of traffic accident
Rate.
According to a preferred embodiment of the invention, the control method is further comprising the steps of：When the disappearance mesh
When target predicts that the expection driving trace of motion track and the main vehicle crosses, the disappearance mesh is calculated
Mark the main vehicle between collision time, and by by the collision time with it is set in advance multiple
Threshold value is compared to perform different danger early warning control.In this case, according to the present invention's
Control method can be calculated the collision time between the missing object and the main vehicle, and is based on
The collision time performs different danger early warning control.For example, when the collision time is less than first threshold
When, send pre-warning signal；When the collision time is less than or equal to Second Threshold, the main vehicle is controlled
Braking mode and/or auto-steering are realized, the Second Threshold is less than the first threshold；When the collision time
During less than or equal to three threshold values, the passive safety system of the main vehicle is triggered, the 3rd threshold value is less than should
Second Threshold.Therefore, if the expected traveling of the prediction motion track of the missing object and the main vehicle
Track crosses, then this means may be caused danger between the main vehicle and the missing object,
Such as collision or friction etc..
According to a preferred embodiment of the invention, the control method is further comprising the steps of：When the main vehicle
Preset distance is travelled, the missing object is again detected, away from detecting the missing object for the first time
Time for being more than the first scheduled time length or being disappeared away from missing object time be more than the second pre- timing
Between length when, stop predict the missing object motion track.Therefore, according to the controlling party of the present invention
Method, only the motion track of missing object is predicted, and will stopped in these cases pre-
Survey, therefore wrong early warning can be reduced and calculating cost can be reduced, so as to improve wagon control
Response.
As can be seen here, can be by predicting missing object according to the safe driving assistant system of the present invention
Motion track is dangerous to judge to whether there is between the missing object and main vehicle, and can be based on being somebody's turn to do
Result of determination performs danger early warning control, so as to reduce the occurrence probability of traffic accident.
Brief description of the drawings
Fig. 1 show be not installed with according to the present invention safe driving assistant system vehicle in motion
Run into possible what happens during the mobile target gone across the road in front；
Fig. 2 shows the general block diagram of safe driving assistant system according to embodiments of the present invention；
Fig. 3 shows the control according to another embodiment of the present invention for the safe driving assistant system
The flow chart of method.
Embodiment
Hereinafter, embodiment of the invention will be described with reference to drawings.Following detailed description and drawings are used for
Exemplarily illustrate the principle of the present invention, the invention is not restricted to described preferred embodiment, the present invention
Scope be defined by the claims.
Due to some movement targets when by crossing may by other barriers (such as greenbelt,
Pedestrian and other vehicles etc.) block or hide, therefore the driver of traveling vehicle is difficult to notice these
The disappearance for the mobile target for being blocked or being hidden and it is difficult to the shifting for remembering that these are blocked or are hidden
The movement of moving-target.In this case, it is most likely that cause the generation of traffic accident.Figure 1A -1C
Show and be not installed with running into front in motion according to the vehicle of the safe driving assistant system of the present invention
The situation that may be occurred during the mobile target gone across the road.For example, as shown in Figure 1A, do not pacify
Vehicle 1 equipped with the safe driving assistant system according to the present invention is moving forward, and mobile mesh
The direction of the positive travel direction along perpendicular to vehicle 1 of mark 2 is moved, and now, mobile target 2 is driving
In the visual range of member or in the detection range of vehicle sensors, i.e., not yet it is blocked or hides.Cross
After a period of time, i.e., after vehicle 1 and mobile target 2 each move certain distance, the movement mesh
Mark 2 may be blocked, and as shown in Figure 1B, now, driver can not see the shifting being blocked
Moving-target or vehicle sensors can not also detect the mobile target being blocked.Then, when main vehicle
Continue to move forward after a segment distance, driver may see again or vehicle sensors may
The movement target is detected again, and as shown in Figure 1 C, but now, driver has had little time to do
Go out reaction, now may easily cause danger.
But if the vehicle is provided with the safe driving assistant system according to inventive embodiments, it
Mobile target (the following letter that will be hidden or block for this during vehicle travels forward or backward
Claim missing object) danger early warning control is carried out, and then avoid the generation of accident.Herein, will pacify
Equipped with being referred to as main vehicle or target vehicle according to the safe driving assistant system of inventive embodiments.
Fig. 2 shows the schematic frame of safe driving assistant system 100 according to embodiments of the present invention
Figure.As shown in Fig. 2 the safe driving assistant system 100 includes Moving target detection portion 10, by structure
Make to be detected to the mobile target in main vehicle periphery preset range and will be corresponding with mobile target
State parameter is stored in storage part 20, and be configured to will not be able to the target that detects again and/
Or the target definition that can not be directly detected is identified as missing object；Movement pattern portion 30, quilt
It is configured to search the state parameter corresponding with the missing object in the storage part 20, and base
The motion track of the missing object is predicted in the state parameter of the missing object；Danger determining portion 40,
It is configured to travel by the prediction motion track of the missing object and the expected of the main vehicle
Track judges the main vehicle and the missing object with the presence or absence of danger；And danger early warning portion
50, the result of determination based on the danger determining portion is configured to, performs danger early warning control.Cause
, there is missing object, safety according to embodiments of the present invention when vehicle forward or retroversion in this
Drive assist system 100 also can be by predicting the motion track of the missing object, to judge the disappearance
With the presence or absence of dangerous (such as friction or collision etc.) between target and the main vehicle, and then according to
Result of determination performs danger early warning control, so as to reduce the occurrence probability of traffic accident.
First, Moving target detection portion 10 is judged in main vehicle periphery preset range with the presence or absence of movement
Target.For example, Moving target detection portion 10 passes through the various sensors on the main vehicle
(not shown) obtains the environmental information in the main vehicle periphery preset range, and is based on these environment
Information whether there is mobile target to parse in the preset range.These sensors can be radars, swash
Any of light or combination.These sensors can be arranged on forward and backward bumper of main vehicle etc.
Opening position, it can also be arranged at any correct position of the main vehicle.These sensors will be by that will swash
Light or radar wave (such as microwave or the millimeter wave of high bandwidth etc.) are sent to outside and reception and come from object
The back wave of (such as mobile object), to confirm in main vehicle periphery preset range with the presence or absence of movement
Target and the status data for measuring the movement target, including position data and kinematics data.
For example, illustrated by taking laser sensor as an example.With reference to figure 1A-1C and Fig. 2, when main vehicle
When driving to position as shown in Figure 1A, Moving target detection portion 10 makes laser sensor with predetermined
Sampling period sends laser wave etc. from main vehicle and receives the echo of the laser wave, judges the master with this
Vehicle periphery whether there is mobile target.If it is determined that there is mobile target in the main vehicle periphery, then
Moving target detection portion 10 further makes the laser sensor obtain the state parameter of the movement target,
Such as present position, translational speed, translational acceleration and moving direction etc., and these states are joined
Number is stored in storage part 20.The safe driving assistant system 100 can also by using installed in
Any other appropriate sensor of the main vehicle obtains the kinetic parameter of the main vehicle.
Mobile target be present when Moving target detection portion 10 is detected in the main vehicle periphery preset range
When, it will carry out continuing detection to the movement target.After a period of time, if Moving target detection portion
10 can not detect the movement target again, but detect the movement target and the main vehicle suddenly
Between when there is barrier, the movement object definition is missing object by Moving target detection portion 10.
Specifically, as described above, Moving target detection portion 10 makes laser sensor with predetermined sampling
Cycle sends laser wave and receives the echo of the laser wave to detect mobile target.When laser sensor exists
Some sampling period detects a mobile target (for example, in position detection as shown in Figure 1A
To a mobile target), but in some or certain several sampling periods after the sampling period
Have not been able to detect the movement target, detect go out between the movement target and the main vehicle suddenly on the contrary
During existing barrier (for example, when main vehicle is in the position shown in Figure 1B), Moving target detection
The movement target definition is missing object by portion 10.In addition, when result shows a mobile target
At least a portion or all by other objects (for example, direction board, greenbelt or other main vehicles)
When blocking, that is to say, that when Moving target detection portion 10 can not all detect the movement target
When, Moving target detection portion 10 is also defined as missing object.
In the present embodiment, storage part 20 is arranged in safe driving assistant system 100.But
It is that safe driving assistant system 100 can also be deposited using any other memory cell in main vehicle
The state parameter of the mobile target of storage.
After Moving target detection portion 10 defines missing object, movement pattern portion 30 is described
The state parameter corresponding with the missing object, such as position data and power are searched in storage part 20
Data (translational speed, translational acceleration, moving direction) etc. are learned, and based on the missing object
State parameter predicts the motion track of above-mentioned missing object.
Danger determining portion 40 by by above-mentioned missing object prediction motion track and main vehicle expection
Driving trace is compared, to judge between the main vehicle and the missing object with the presence or absence of danger.Tool
Body, danger determining portion 40 judges the prediction motion track of missing object and the expected traveling of main vehicle
Whether track crosses or overlaps, and wherein the prediction motion track of missing object is by movement pattern
Portion 30 exports, and the expection driving trace of main vehicle is then that danger determining portion 40 is based on from various biographies
What sensor output, relevant with main vehicle information was calculated in advance.If it is determined that result is shown
The expection driving trace of the prediction motion track and main vehicle of missing object does not have generation to cross, then dangerous
Determination unit 40 is judged to that danger is not present between the missing object and the main vehicle.If on the contrary, sentence
Determine result and show that the prediction motion track of missing object can be handed over the expection driving trace of main vehicle
Converge, then danger determining portion 40 is determined as dangerous between the missing object and the main vehicle, that is, has
Friction or collision may occur.
If danger determining portion 40 be determined as it is dangerous between the missing object and the main vehicle,
It then can estimate this according to the expection driving trace of main vehicle and the prediction motion track of missing object
Collision time TTC between main vehicle and the missing object.Specifically, danger determining portion 40 will be main
There is the initial time to cross in the expection driving trace of vehicle and the prediction motion track of missing object, make
For the collision time TTC between the main vehicle and the missing object, and by collision time TTC
It is output to danger early warning portion 50.
Controlled based on the result of determination and collision time that are exported from danger determining portion 40 in danger early warning portion 50
Make whether main vehicle sends danger early warning.Specifically, when danger determining portion 40 is determined as the disappearance mesh
When being not present dangerous between mark and the main vehicle, danger early warning portion 50 need not perform danger early warning control
System.In addition, when danger determining portion 40 be determined as it is dangerous between the missing object and the main vehicle
When, danger early warning portion 50 further by collision time TTC that danger determining portion 40 calculates with setting in advance
Fixed multiple threshold value TTCTHsIt is compared, and different danger early warnings is made based on comparative result,
For example, send danger early warning signal or perform danger early warning action.
For example, if collision time TTC is less than first threshold TTCTH1(for example, 2s), then endanger
Dangerous early warning portion 50 sends pre-warning signal to driver, missing object, and with prompting, they pay attention to potentially
It is dangerous.Wherein, the pre-warning signal includes vision pre-warning signal, sense of hearing pre-warning signal or tactile early warning letter
Number.In addition, pre-warning signal can also include via it is vehicle-to-vehicle communication be sent to the main vehicle periphery other
Traffic participant is (for example, the mobile target or other vehicles of side lanes gone across the road
Deng) signal of communication, for example, the communication that main vehicle is sent to surrounding vehicles via cloud server is believed
Number.
For example, danger early warning portion 50 can utilize the image information being shown on Vehicular display device, text
The bright light of the light-emitting components such as the LED in word information and both combination, installation meter panel of motor vehicle or sudden strain of a muscle
Sparkle to send vision pre-warning signal to driver.Vehicular display device includes head-up display, automobile navigation
The display of system, any other display for being mounted or connected to main vehicle.Preferably, it is shown in
Vision pre-warning signal on Vehicular display device includes being highlighted ground, the institute before missing object disappearance
The image of the missing object of acquisition.The image can be included in the video of the external environment obtained in real time
In, wherein, position of the missing object in the video is predicted with movement pattern portion 30
Missing object physical location it is consistent.In this way, driver can be similar to and pass through " transparent barrier
Hinder thing " mode see the missing object.In addition, danger early warning portion 50 can pass through main vehicle
Illuminating lamp, signal lamp, emergency warning lamp etc. are to missing object (for example, pedestrian, bicycle or setting
Other vehicles for being intended to turn to) send vision pre-warning signal.
Danger early warning portion 50 can also utilize the speaker systems such as loudspeaker, buzzer, loudspeaker to send
Sense of hearing pre-warning signal.In addition, danger early warning portion 50 can also pass through pilot set, steering wheel
Vibrate to driver and send tactile pre-warning signal.
If collision time TTC is less than or equal to Second Threshold TTCTH2(for example, 1s), it is dangerous pre-
Police portion 50 controls the main vehicle so that the main vehicle realizes auto-steering or Braking mode.Wherein,
Two threshold value TTCTH2Less than first threshold TTCTH1。
If collision time TTC is less than or equal to the 3rd threshold value TTCTH3(for example, 0.5s), then it is dangerous
Trigger the passive safety system of the main vehicle, such as inner/outer air bag, driving in early warning portion 50
Member's neck protection system etc., the loss in collision process to driver and missing object is dropped to most
It is low.Wherein, the 3rd threshold value TTCTH3Less than Second Threshold TTCTH2。
Therefore, there is missing object when main vehicle forward or retroversion, according to the peace of the present invention
Full drive assist system also can be by predicting the motion track of the missing object, to judge the disappearance mesh
With the presence or absence of dangerous (such as friction or collision etc.) between mark and the main vehicle, and then according to sentencing
Determine result and perform danger early warning control, so as to reduce the occurrence probability of traffic accident.Therefore, it is provided with
Situation as shown in Figure 1 C can be avoided according to the main vehicle of the safe driving assistant system of the present invention.
Preferably, after main vehicle travels a period of time, storage part 20 can automatically eliminate pre- with this
The corresponding state parameter of mobile target in scope is determined, so as to reduce the safe driving assistant system
100 data storage, further speeds up data-handling efficiency and processing accuracy.Preferably, movement is worked as
When target detection portion 10 detects missing object again, storage part 20 is automatically removed and the disappearance mesh
Corresponding state parameter is marked, while movement pattern portion 30 will also stop to the missing object
The prediction of motion track.It is in addition, predetermined when being more than first away from the time for detecting missing object for the first time
Time span or away from missing object disappear time be more than the second scheduled time length when, motion track is pre-
Survey portion 30 also will stop predicting the motion track of missing object.
Therefore, safe driving assistant system according to embodiments of the present invention, only to the shifting of missing object
Dynamic rail mark is predicted, and will stop predicting in these cases, therefore can reduce wrong early warning
And calculating cost can be reduced, so as to improve the response of wagon control.
Below, describe to be used for above-mentioned safe driving assistant system 100 by the flow chart shown in Fig. 3
Control method.Fig. 3 shows that the safe driving auxiliary according to another embodiment of the present invention that is used for is
The flow chart of the control method of system.
With reference to figure 3, in step sl, judged according to the environmental information from various vehicle sensors
With the presence or absence of mobile target in main vehicle periphery preset range.The judgement to mobile target is entered above
Description is gone, therefore will not be repeated here.If it is determined that mobile target be present, then to environmental information
Analyzed again to obtain the state parameter of the movement target, for example, present position, translational speed,
Translational acceleration and moving direction etc., and these state parameters are stored, handle then into step
S2。
In step s 2, determine whether missing object be present.Specifically, when judging in step sl
Mobile target to be present, the movement target is carried out to continue detection, and work as and can not detect again
Certain movement target when or when detect certain movement target and the main vehicle between there is another object when,
It is missing object by the movement object definition, now processing enters step S3.
In step s3, the state parameter corresponding with the missing object is searched, and is based on these
State parameter predicts the motion track of the missing object and exports the motion track, process proceed to
Step S4.
In step s 4, by by the motion track for the missing object predicted in step s3 and should
The expection driving trace of main vehicle is compared, come judge between the missing object and the main vehicle whether
It can cause danger, wherein, the expection driving trace of main vehicle enters, and is to be based on exporting from various sensors
, relevant with main vehicle information is calculated in advance.Specifically, in step s 4, sentence
Whether the expection driving trace of the prediction motion track and main vehicle of determining missing object crosses or again
Close.If it is determined that the expection driving trace of the prediction motion track and main vehicle of missing object does not produce
Life crosses, then this shows that danger is not present between the missing object and the main vehicle, and processing returns to step
Rapid S1.If on the contrary, it is determined as that the prediction motion track of missing object can be with the expection row of main vehicle
Sail track to cross, then this means dangerous between the missing object and the main vehicle, that is, have
Friction or collision may occur, processing is forwarded to step S5.
In step s 5, according to the expection driving trace of main vehicle and the prediction moving rail of missing object
Mark calculates the collision time TTC between the main vehicle and the missing object.For example, by main vehicle
It is expected that there is the initial time overlapped with the prediction motion track of missing object in driving trace, as the master
Collision time TTC between vehicle and the missing object, then processing enter step S6.
In step s 6, by by collision time TTC and multiple collision time threshold values set in advance
TTCTHsIt is compared to distinguish dangerous degree, and according to degree of danger, performs different danger
Early warning controls.For example, if collision time TTC is less than first threshold TTCTH1(for example,
2s), then early warning letter is sent to other traffic participants of driver, missing object or main vehicle periphery
Number etc..And for example, if collision time TTC is less than or equal to Second Threshold TTCTH2(for example,
1s), then the main vehicle is controlled so that the main vehicle realizes auto-steering or Braking mode, wherein second
Threshold value TTCTH2Less than first threshold TTCTH1.For another example, if collision time TTC is less than or equal to the
Three threshold value TTCTH3(for example, 0.5s), then the passive safety system of the main vehicle is triggered, for example, it is interior
Portion/external airbag, driver's neck protection system etc., by collision process to driver and disappearing
The loss for losing target is preferably minimized, wherein the 3rd threshold value TTCTH3Less than Second Threshold TTCTH2。
Therefore, there is missing object when main vehicle forward or retroversion, according to the control of the present invention
Method processed also can be by predicting the motion track of the missing object, to judge the missing object and the master
With the presence or absence of dangerous (such as friction or collision etc.) between vehicle, and held then according to result of determination
Row danger early warning controls, so as to reduce the occurrence probability of traffic accident.
In addition, the processing meet it is following under the conditions of will be forwarded to step S7：When main vehicle travels one section
Between, missing object when when being detected again, be more than first away from the time for detecting missing object for the first time
Scheduled time length is more than the second scheduled time length away from the time that missing object disappears.In step
In S7, the state parameter corresponding with the mobile target in the preset range is automatically eliminated, and stop
Prediction to the motion track of the missing object.
Therefore, control method according to embodiments of the present invention, only the motion track of missing object is entered
Row prediction, and will stop predicting in these cases, therefore wrong early warning can be reduced and can be dropped
Low calculating cost, so as to improve the response of wagon control.
Although described above with reference to accompanying drawing for some according to safe driving assistant system of the invention
Illustrative examples, still, these illustrative examples are not with the limitation present invention, other embodiment
It is feasible.
In the aforementioned embodiment, Moving target detection portion is passed using radar, laser sensor, infrared ray
Sensor etc. detects the target in main vehicle periphery preset range.But Moving target detection portion may be used also
To detect mobile target using onboard camera.Onboard camera is being used as to the situation of sensor
Under, the safe driving assistant system can be by carrying out pattern to the moving body identified by the camera
Matching treatment, the species of the moving body is identified with moment.
In the aforementioned embodiment, Moving target detection portion will not be able to the target detected again and/or can not
The target definition enough directly detected is identified as missing object.But Moving target detection portion can be with
Missing object is defined by other means.For example, Moving target detection portion is when detecting mobile target
Id number is configured for each mobile target, and each id number is carried out with the predetermined sampling period
Monitoring.When Moving target detection portion 10 can't detect certain id number breath again or when mobile target
Test section 10 detects when there is another id number between certain id number and main vehicle, will be with the ID
The corresponding mobile target definition of number is missing object.
While the invention has been described with reference to exemplary embodiments thereof, however, it is understood that the present invention not
It is limited to the construction and method of above-described embodiment.On the contrary, it is intended to cover various modifications and be equal
Configuration.In addition, although show the various of disclosed invention in various exemplary combination bodies and construction
Element and method and step, but other combinations including more, less element or method also fall at this
Within the scope of invention.
Claims (10)
1. a kind of safe driving assistant system, including：
Moving target detection portion, it is configured to enter the mobile target in main vehicle periphery preset range
State parameter corresponding with the mobile target is simultaneously stored in the safe driving assistant system by row detection
Storage part in, and be also structured to will not be able to detect again and/or can not directly detect
Mobile object definition be missing object；
Movement pattern portion, it is configured to search and the missing object phase in the storage part
Corresponding state parameter, and the state parameter based on the missing object predicts the missing object
Motion track；
Danger determining portion, it is configured to prediction motion track and institute by the missing object
The expection driving trace of main vehicle is stated to judge to whether there is between the main vehicle and the missing object
It is dangerous；And
Danger early warning portion, it is configured to the result of determination based on the danger determining portion and performs danger in advance
Alert control.
2. safe driving assistant system according to claim 1, wherein,
The danger determining portion is also structured to prediction motion track and the master when the missing object
When the expection driving trace of vehicle crosses, calculate between the missing object and the main vehicle
Collision time, and
The danger early warning portion is also structured to by by the collision time and multiple thresholds set in advance
Value is compared to perform different danger early warning control.
3. safe driving assistant system according to claim 2, wherein,
The danger early warning portion is configured to：
When the collision time is less than first threshold, pre-warning signal is sent；
When the collision time is less than or equal to Second Threshold, the control main vehicle realizes automatic system
Dynamic and/or auto-steering, the Second Threshold are less than the first threshold；
When the collision time is less than or equal to three threshold values, the passive security system of the main vehicle is triggered
System, the 3rd threshold value are less than the Second Threshold.
4. according to the safe driving assistant system any one of claim 1-3, wherein,
The movement pattern portion is configured to：
Described in the main vehicle has travelled preset distance, the Moving target detection portion detects again
Missing object, away from detect for the first time the missing object time be more than the first scheduled time length or
When the time to disappear away from the missing object is more than the second scheduled time length, stop predicting the disappearance
The motion track of target.
5. safe driving assistant system according to claim 3, wherein,
The pre-warning signal include vision pre-warning signal, sense of hearing pre-warning signal, tactile pre-warning signal and
Via the signal of communication transmitted by vehicle-to-vehicle communication.
6. safe driving assistant system according to claim 5, wherein,
The vision pre-warning signal includes being shown on the display screen of the main vehicle, in the disappearance mesh
The image of the mark missing object acquired before disappearing.
7. a kind of control method for safe driving auxiliary, the control method comprises the following steps：
Mobile target in main vehicle periphery preset range is detected and stored and the mobile target
Corresponding state parameter, and will not be able to movement detecting again and/or can not directly detecting
Object definition is missing object；
The state parameter corresponding with the missing object is searched, and based on the shape of the missing object
The motion track of missing object described in state parameter prediction；
Pass through the prediction motion track of the missing object and the expected traveling rail of the main vehicle
Mark, to judge between the main vehicle and the missing object with the presence or absence of danger；And
Result of determination based on the danger determining portion performs danger early warning control.
8. control method according to claim 7, further comprising the steps of：
When the prediction motion track of the missing object and the expection driving trace of the main vehicle are handed over
During remittance, the collision time between the missing object and the main vehicle is calculated, and
By the way that the collision time is compared to perform different danger from multiple threshold values set in advance
Dangerous early warning control.
9. control method according to claim 8, further comprising the steps of：
When the collision time is less than first threshold, pre-warning signal is sent；
When the collision time is less than or equal to Second Threshold, the control main vehicle realizes automatic system
Dynamic and/or auto-steering, the Second Threshold are less than the first threshold；
When the collision time is less than or equal to three threshold values, the passive security system of the main vehicle is triggered
System, the 3rd threshold value are less than the Second Threshold.
It is 10. further comprising the steps of according to the control method any one of claim 7-9：
When the main vehicle has travelled preset distance, the missing object is again detected, away from first
The secondary time for detecting the missing object is more than the first scheduled time length or disappeared away from the missing object
When the time of mistake is more than the second scheduled time length, stop predicting the motion track of the missing object.
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| CN110435653A (en) * | 2019-08-22 | 2019-11-12 | 爱驰汽车有限公司 | Prompting control method, device, electronic equipment, storage medium are sailed out of from vehicle |
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Application publication date: 20171128 |