CN106218611B - A kind of control device for stability and method of automatic emergency brake system - Google Patents
A kind of control device for stability and method of automatic emergency brake system Download PDFInfo
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- CN106218611B CN106218611B CN201610579998.4A CN201610579998A CN106218611B CN 106218611 B CN106218611 B CN 106218611B CN 201610579998 A CN201610579998 A CN 201610579998A CN 106218611 B CN106218611 B CN 106218611B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/03—Brake assistants
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of control device for stability of automatic emergency brake system and methods, are related to technical field of vehicle safety.The control device for stability of the automatic emergency brake system includes image acquisition unit, for obtaining the target object image of vehicle front；Image processing unit, for obtaining the classification information and acquisition mode information of the object；Distance and position acquiring unit, for obtaining the opposite distance of the object and location information；And central processing unit triggers the automatic emergency brake system when judging the object for effective object for the object to be distinguished and filtered according to above- mentioned information.The present invention also provides corresponding methods.The object information that the present invention is obtained by blending image acquiring unit and distance and position acquiring unit, can be recognized accurately whether vehicle forward target is effective static target, effectively prevent the automatic emergency brake function of vehicle by false triggering.
Description
Technical field
The present invention relates to technical field of vehicle safety, more particularly to a kind of stability control of automatic emergency brake system
Device and method.
Background technique
Currently cause mainly to exist based on the reason of vehicle automatic emergency brake function false triggering of millimetre-wave radar system
Under the operating condition of low vehicle speeds, vehicle encounters front such as ring road mouth elevating lever, the iron plate on road surface of constructing, sprinkling truck side water
Whens column, road guideboard, pavement of road well lid etc., above-mentioned obstacle recognition is accidentally effective static target by radar, thus
Automatic emergency brake function is taken, the driving risk of vehicle has been significantly greatly increased in the generation of false triggering, while it is all also to allow user to generate
It is complain more.
Summary of the invention
The purpose of the present invention is to provide one kind, and the automatic emergency brake function of vehicle can be effectively prevent by false triggering
The control device for stability of automatic emergency brake system improves user and drives to experience to improve the driving safety performance of vehicle.
It is another object of the present invention to provide one kind, and the automatic emergency brake function of vehicle can be effectively prevent to be missed
The stability control method of the automatic emergency brake system of triggering improves driving for user to improve the driving safety performance of vehicle
Car body is tested.
Particularly, the present invention provides a kind of control device for stability of automatic emergency brake system, for controlling vehicle
False triggering under driving cycle comprising:
Image acquisition unit, for obtaining the target object image of vehicle front；
Image processing unit, the target object image for the vehicle front according to acquisition obtain dividing for the object
Category information and acquisition mode information；
Distance and position acquiring unit, object for obtaining vehicle front opposite distance and location information；With
Central processing unit, for according to the classification information and acquisition mode information of the object of acquisition and acquisition
The vehicle front the opposite distance and location information of object, the object is distinguished and is filtered, is being judged
The object triggers the automatic emergency brake system when being effective object.
It further, further include car speed acquiring unit, for obtaining the current speed of the vehicle；
Described image acquiring unit and the distance and position acquiring unit are in response to obtaining the current speed of the vehicle
Start when less than scheduled threshold speed；
Optionally, the scheduled threshold speed is 40km/h.
Further, the car speed acquiring unit is the wheel speed sensors being mounted at the wheel of the vehicle；
Described image acquiring unit is the camera being mounted at the front windshield of vehicle；
The distance and position acquiring unit is the radar being mounted at the front bumper of the vehicle；
Optionally, the camera is monocular cam；
Optionally, the radar is millimetre-wave radar.
Further, the central processing unit is integrated in the controller local area network of the vehicle.
Further, described image processing unit is also used to be obtained according to the target object image of the vehicle front of acquisition
The fore-and-aft distance information of the object, fore-and-aft distance covariance information, lateral angles information, lateral angles covariance information, right side
Side angle information, left side angle information, left side angle covariance information, the right angle covariance information, there is a possibility that information, away from
From collision time information, with a distance from collision time covariance information and coordinate information, while by above- mentioned information, itself working condition believe
Breath and location information are sent to the central processing unit.
Particularly, the present invention also provides a kind of stability control methods of automatic emergency brake system, including walk as follows
Suddenly,
Obtain the target object image of vehicle front；
The classification information and acquisition mode of the object are obtained according to the target object image of the vehicle front of acquisition
Information；
Obtain the object of vehicle front opposite distance and location information；
According to the classification information of the object of acquisition and acquisition mode information and the vehicle front of acquisition
The opposite distance of object and location information are distinguished and are filtered to the object, are judging that the object is effective
Object when trigger the automatic emergency brake system.
It further, further include obtaining the current speed of the vehicle；
When obtaining the current speed of the vehicle less than scheduled threshold speed, the target object image of vehicle front is obtained
The object of information and acquisition vehicle front opposite distance and location information；
Optionally, the scheduled threshold speed is 40km/h.
It further, further include the fore-and-aft distance information for obtaining the object, fore-and-aft distance covariance information, lateral angles
Information, lateral angles covariance information, right edge angle information, left side angle information, left side angle covariance information, the right angle
Covariance information, there is a possibility that information, apart from collision time information, apart from collision time covariance information, coordinate information with it is described
The work state information and location information of image processing unit, when judging the object for effective object described in triggering
Automatic emergency brake system.
The control device for stability and method of automatic emergency brake system of the invention, by blending image acquiring unit with
Distance and position acquiring unit obtain object information, make central processing unit can recognize that vehicle forward target whether be
Effective static target, so as to avoid vehicle automatic emergency brake function by false triggering, thus effectively increase vehicle
Driving safety performance, while also improving user and driving to experience.
Detailed description of the invention
Some specific embodiments of the present invention is described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference denotes same or similar part or part in attached drawing.In attached drawing:
Fig. 1 is the principle frame according to the control device for stability of the automatic emergency brake system of one embodiment of the invention
Figure；
Fig. 2 is the workflow according to the stability control method of the automatic emergency brake system of one embodiment of the invention
Figure.
Specific embodiment
Fig. 1 is the principle frame according to the control device for stability of the automatic emergency brake system of one embodiment of the invention
Figure, as shown in Figure 1, a kind of control device for stability of automatic emergency brake system is for controlling mistake of the vehicle under driving cycle
Triggering, general may include image acquisition unit 10, image processing unit 20, distance and position acquiring unit 30 and center
Processing unit 40, described image acquiring unit 10 are used to obtain the target object image of vehicle front；Described image processing unit 20
The classification information and acquisition mode information of the object are obtained for the target object image according to the vehicle front of acquisition,
Herein, the classification information of the object can be information of vehicles, pedestrian information, road guideboard information etc., the detection shape
State information can be the mobile message and stationary information of object；The distance and position acquiring unit 30 is for obtaining vehicle front
The opposite distance and location information of object；The central processing unit 40 is used for the classification of the object according to acquisition
The object of information and acquisition mode information and the vehicle front of acquisition opposite distance and location information, to the mesh
Mark object is distinguished and is filtered, and the automatic emergency brake system is triggered when judging the object for effective object.
Object information that the present invention is obtained by blending image acquiring unit 10 and distance and position acquiring unit 30, makes
Central Processing Unit 40 can recognize that whether vehicle forward target is effective static target, so as to avoid the automatic of vehicle
Emergency braking function effectively increases the driving safety performance of vehicle, while also improving driving for user by false triggering
Experience.
Under normal conditions, causing vehicle automatic emergency brake function false triggering is occurred in the case where low vehicle speeds
, therefore, make its non-productive work to avoid vehicle from starting the device when running at high speed, in one embodiment of the invention
In, the control device for stability can also include car speed acquiring unit, for obtaining the current speed of the vehicle；Institute
Image acquisition unit 10 and the distance and position acquiring unit 30 are stated in response to obtaining the current speed of the vehicle less than pre-
Start when fixed threshold speed；Herein, the scheduled threshold speed can be 40km/h.
Specifically, the car speed acquiring unit can be the wheel speed sensors being mounted at the wheel of the vehicle,
Described image acquiring unit 10 can be the camera being mounted at the front windshield of vehicle, and the distance and position obtains single
Member 30 can be the radar being mounted at the front bumper of the vehicle, and more specifically, the camera can image for monocular
Head, the radar can be millimetre-wave radar.
In an embodiment of the invention, the central processing unit 40 can integrate the controller local in the vehicle
In network, and radar system is formed with the radar.The setting of radar system is conducive to the structure for simplifying Vehicular system, simultaneously
It is also beneficial to the modularization of vehicle functions.
Meanwhile described image processing unit 20 is also used to obtain institute according to the target object image of the vehicle front of acquisition
State fore-and-aft distance information, fore-and-aft distance covariance information, the lateral angles information, lateral angles covariance information, right edge of object
Angle information, left side angle covariance information, the right angle covariance information, there is a possibility that information, distance at left side angle information
Collision time information, apart from collision time covariance information and coordinate information, while by above- mentioned information, the work state information of itself
The central processing unit 40 is sent to location information.
The object information that image processing unit 20 obtains is to determining whether object is effective static target to closing weight
It wants, thus the object Diversity of information that can acquire of heretofore described image processing unit 20 and embodies, it is such
Setting is conducive to radar system and merges useful information sufficiently to improve the accuracy of object differentiation, thus also can be effective
Avoid the automatic emergency brake function of vehicle by false triggering.
Fig. 2 is the workflow according to the stability control method of the automatic emergency brake system of one embodiment of the invention
Figure, as shown in Fig. 2, a kind of stability control method of automatic emergency brake system, may include steps of,
S100 obtains the target object image of vehicle front；
S200 obtains the classification information and detection of the object according to the target object image of the vehicle front of acquisition
Status information；
S300 obtains the object of vehicle front opposite distance and location information；
S400, before the classification information of the object of acquisition and acquisition mode information and the vehicle of acquisition
The opposite distance and location information of object of side, distinguishes and filters to the object, is judging that the object is
The automatic emergency brake system is triggered when effective object.
Further, as previously mentioned, to avoid vehicle from starting the device when running at high speed and make its non-productive work,
The stability control method further includes obtaining the current speed of the vehicle, only small when obtaining the current speed of the vehicle
When scheduled threshold speed, the object of the object image information and acquisition vehicle front that just obtain vehicle front is opposite
Distance and location information, herein, the scheduled threshold speed can be 40km/h.
In addition, as previously mentioned, to improve stability of the accuracy to improve automatic emergency brake system that object differentiates,
The stability control method further includes the fore-and-aft distance information for obtaining the object, fore-and-aft distance covariance information, lateral angle
Spend information, lateral angles covariance information, right edge angle information, left side angle information, left side angle covariance information, right corner
Degree covariance information, there is a possibility that information, apart from collision time information, apart from collision time covariance information, coordinate information and institute
It states the work state information and location information of image processing unit, and sufficiently merges above- mentioned information, judging that the object is
The automatic emergency brake system is triggered when effective object.
Due to the object information that this method has merged image acquisition unit 10 and distance and position acquiring unit 30 obtains, make
Central processing unit 40 can recognize that whether vehicle forward target is effective static target, so as to avoid vehicle from
Emergency braking function is moved by false triggering, thus effectively increases the driving safety performance of vehicle, while also improving driving for user
Car body is tested.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (12)
1. a kind of control device for stability of automatic emergency brake system, for controlling false triggering of the vehicle under driving cycle,
Include:
Image acquisition unit, for obtaining the target object image of vehicle front；
Image processing unit, the classification for obtaining the object for the target object image according to the vehicle front of acquisition are believed
Breath and acquisition mode information；
Distance and position acquiring unit, object for obtaining vehicle front opposite distance and location information；With
Central processing unit, for according to the classification information and acquisition mode information of the object of acquisition and the institute of acquisition
The object of vehicle front opposite distance and location information are stated, the object is distinguished and filtered, described in judgement
Object triggers the automatic emergency brake system when being effective object.
2. control device for stability according to claim 1, which is characterized in that further include car speed acquiring unit, use
In the current speed of the acquisition vehicle；
Described image acquiring unit and the distance and position acquiring unit in the current speed of the acquisition vehicle in response to being less than
Start when scheduled threshold speed.
3. control device for stability according to claim 2, which is characterized in that the scheduled threshold speed is 40km/
h。
4. control device for stability according to claim 3, which is characterized in that the car speed acquiring unit is installation
Wheel speed sensors at the wheel of the vehicle；
Described image acquiring unit is the camera being mounted at the front windshield of vehicle；
The distance and position acquiring unit is the radar being mounted at the front bumper of the vehicle.
5. control device for stability according to claim 4, which is characterized in that the camera is monocular cam.
6. control device for stability according to claim 4, which is characterized in that the radar is millimetre-wave radar.
7. control device for stability according to claim 1, which is characterized in that the central processing unit is integrated in described
In the controller local area network of vehicle.
8. control device for stability described in any one of -7 according to claim 1, which is characterized in that described image processing unit
It is also used to obtain fore-and-aft distance information, the fore-and-aft distance of the object according to the target object image of the vehicle front of acquisition
Covariance information, lateral angles information, lateral angles covariance information, right edge angle information, left side angle information, left side angle
Covariance information, the right angle covariance information there is a possibility that information, believe apart from collision time information, apart from collision time variance
Breath and coordinate information, while above- mentioned information, the work state information of itself and location information are sent to the central processing list
Member.
9. a kind of control device for stability for automatic emergency brake system according to claim 1 to 8
Stability control method includes the following steps,
Obtain the target object image of vehicle front；
The classification information and acquisition mode information of the object are obtained according to the target object image of the vehicle front of acquisition；
Obtain the object of vehicle front opposite distance and location information；
According to the classification information of the object of acquisition and acquisition mode information and the target of the vehicle front of acquisition
The opposite distance of object and location information are distinguished and are filtered to the object, are judging the object for effective mesh
The automatic emergency brake system is triggered when marking object.
10. stability control method according to claim 9, which is characterized in that further include obtaining the vehicle currently
Speed；
When obtaining the current speed of the vehicle less than scheduled threshold speed, the object image information of vehicle front is obtained
And obtain the opposite distance and location information of object of vehicle front.
11. stability control method according to claim 10, which is characterized in that the scheduled threshold speed is
40km/h。
12. stability control method according to claim 9, which is characterized in that further include obtaining indulging for the object
To range information, fore-and-aft distance covariance information, lateral angles information, lateral angles covariance information, right edge angle information, left side
Side angle information, left side angle covariance information, the right angle covariance information, there is a possibility that information, apart from collision time information,
Work state information and location information apart from collision time covariance information, coordinate information and described image processing unit, are sentencing
The object that breaks triggers the automatic emergency brake system when being effective object.
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| CN201610579998.4A CN106218611B (en) | 2016-07-21 | 2016-07-21 | A kind of control device for stability and method of automatic emergency brake system |
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| CN201610579998.4A CN106218611B (en) | 2016-07-21 | 2016-07-21 | A kind of control device for stability and method of automatic emergency brake system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107757583A (en) * | 2017-10-13 | 2018-03-06 | 奇瑞汽车股份有限公司 | A kind of low speed driving active brake method and system |
| CN109572642B (en) * | 2018-11-07 | 2021-01-26 | 北京海纳川汽车部件股份有限公司 | Vehicle braking control method and device and vehicle with same |
| CN116968733B (en) * | 2023-09-22 | 2024-02-27 | 国汽(北京)智能网联汽车研究院有限公司 | Vehicle safety risk assessment method and device, equipment and medium thereof |
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| JP2010102641A (en) * | 2008-10-27 | 2010-05-06 | Mitsubishi Electric Corp | Vehicle collision avoidance apparatus |
| JP2012079117A (en) * | 2010-10-01 | 2012-04-19 | Toyota Motor Corp | Object recognition system for vehicle |
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