CN114619986A - AEB and LKA fusion control system for passenger car - Google Patents

Abstract

The invention discloses an AEB and LKA fusion control system for passenger cars, including an AEB system and an LKA system, the AEB system includes an AEB controller and a connected fusion system, and the fusion system includes a radar, a camera and a fusion module , the fusion module realizes the signal fusion of the radar and the camera by the ECU of the radar; the LKA system includes the LKA system controller integrated in the radar ECU, and a camera shared with the AEB system. The pedestrian monitoring of the AEB system of the present invention is more accurate, complements the radar, improves the safety of the AEB system, reduces traffic accidents, and reduces the failure rate of AEB false alarms and the like; the LKA and the AEB system of the present invention share a camera, and the LKA controller is integrated In the radar, one camera and one LKA controller hardware are reduced to reduce the cost of the entire vehicle.

Description

A Fusion Control System of AEB and LKA for Passenger Cars

technical field

The invention relates to the field of automatic driving, in particular to an AEB and LKA fusion control system for passenger cars.

Background technique

In accordance with the provisions of JT/T1242-2019 "Performance Requirements and Test Procedures for Automatic Emergency Braking System of Commercial Vehicles" issued by the Ministry of Communications, it is necessary to add pedestrian monitoring function to the performance of AEB (Automatic Braking System) of commercial vehicles. In accordance with the implementation requirements of the national standard GB7258 "Technical Conditions for Motor Vehicle Operation Safety", from February 1, 2022, highways and tourist buses over 11 meters long need to install the LKA (lane keeping assist) function.

At present, the vehicle monitoring and pedestrian monitoring of the AEB system in the passenger car industry are independent systems, and the vehicle monitoring uses a single radar; the pedestrian monitoring uses a camera, which is independent and has a high cost.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an AEB and LKA fusion control system for passenger cars, which solves the problem of

AEB vehicle monitoring and pedestrian monitoring are independent and non-integrated. The LKA controller is integrated into the radar, reducing a camera hardware and reducing costs; Accurate judgment and identification.

The technical scheme of the present invention is:

An AEB and LKA fusion control system for passenger cars, comprising an AEB system and an LKA system, the AEB system comprising an AEB controller and a fusion system connected thereto, the fusion system comprising a radar, a camera and a fusion module, the fusion The module realizes the signal fusion of the radar and the camera by the ECU of the radar; the LKA system includes the LKA system controller integrated in the radar ECU, and a camera shared with the AEB system.

Preferably, the camera is used for target detection, and the radar realizes target detection, fusion algorithm and function realization.

Preferably, the lane line detected by the camera is used to implement the LKA function, the system sends the LKA steering request to the CAN network of the vehicle, and the EHPS system of the vehicle reads the steering request from the CAN and sends the request to the actuator.

Preferably, the pedestrian vehicle target detected by the camera and the radar at the same time is a fusion target generated in the ECU of the radar, and the fusion target is sent to the AEB controller for realizing the AEB function.

The advantages of the present invention are:

1. In the AEB and LKA fusion control system of the present invention, the pedestrian monitoring of the AEB system is more accurate, complements the radar, improves the safety of the AEB system, reduces traffic accidents, and reduces the failure rate of AEB false alarms; the AEB system will have more accurate targets Positioning, more accurate target speed detection, better target type judgment, improved object recognition probability, lower false trigger rate, and more accurate angle calculation.

2. The LKA and the AEB system of the present invention share a camera, and the LKA controller is integrated into the radar, thereby reducing one camera and one LKA controller hardware, thereby reducing the cost of the entire vehicle.

Description of drawings

Below in conjunction with accompanying drawing and embodiment, the present invention is further described:

FIG. 1 is a schematic diagram of the AEB and LKA fusion control system of the present invention.

Detailed ways

As shown in FIG. 1 , the AEB and LKA fusion control system for passenger cars proposed by the present invention includes an AEB system and an LKA system, the AEB system includes an AEB controller and its connected fusion system, and the fusion system includes radar, The camera and fusion module, the fusion module realizes the signal fusion of the radar and the camera by the radar ECU; on the basis of the radar and camera fusion of the AEB system, the LKA system includes the LKA system controller integrated in the radar ECU, and the LKA system controller integrated with the radar ECU. A camera shared by AEB systems.

The camera is used for target detection, and the radar realizes target detection, fusion algorithm and function realization.

The lane line detected by the camera is used to realize the LKA function. The system sends the LKA steering request to the vehicle CAN network, and the vehicle EHPS (Electronic Hydraulic Power Steering System) reads the steering request from the CAN and sends the request to the actuator. .

The pedestrian vehicle target detected by the camera and the radar at the same time is a fusion target generated in the ECU of the radar, and the fusion target is sent to the AEB controller for realizing the AEB function.

The above-mentioned embodiments are only intended to illustrate the technical concept and characteristics of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly, and cannot limit the protection scope of the present invention. All modifications made according to the spirit and essence of the main technical solutions of the present invention should be covered within the protection scope of the present invention.

Claims (4)

1. An AEB and LKA fusion control system for a passenger car is characterized by comprising an AEB system and an LKA system, wherein the AEB system comprises an AEB controller and a fusion system connected with the AEB controller, the fusion system comprises a radar, a camera and a fusion module, and the fusion module realizes signal fusion of the radar and the camera by an ECU (electronic control unit) of the radar; the LKA system comprises an LKA system controller integrated in the radar ECU and a camera shared by the LKA system and the AEB system.

2. The AEB and LKA fusion control system of claim 1, wherein the camera is configured for target detection, and radar is configured to perform target detection, fusion algorithms, and function implementation.

3. The AEB and LKA fusion control system of claim 2, wherein a lane line detected by the camera is used for achieving an LKA function, the system sends an LKA steering request to a whole vehicle CAN network, and an EHPS system of a whole vehicle reads the steering request from the CAN and sends the steering request to the actuator.

4. The AEB and LKA fusion control system of claim 3, wherein pedestrian-vehicle targets detected by the camera and radar simultaneously are fusion targets generated in an ECU of the radar, sending the fusion targets to an AEB controller for implementation of an AEB function.

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