CN108556842A - Actively accelerate control method, device and the controller of collision avoidance - Google Patents
Actively accelerate control method, device and the controller of collision avoidance Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000008447 perception Effects 0.000 claims abstract description 37
- 230000001133 acceleration Effects 0.000 claims abstract description 18
- 230000004888 barrier function Effects 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 7
- 230000006870 function Effects 0.000 abstract description 17
- 238000010586 diagram Methods 0.000 description 12
- 230000008901 benefit Effects 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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Abstract
The present invention provides a kind of control method actively accelerating collision avoidance, device and controllers, are related to technical field of vehicle safety, and this method includes：Obtain the rear perception data of vehicle；Rear perception data includes the relative velocity and distance of rear object and vehicle；Estimated collision time is calculated according to rear perception data in real time；When estimated collision time is less than default avoidance threshold value, judge that vehicle front whether there is wheeled region；If so, acceleration control signal is sent to power plant module control unit, so that vehicle accelerates collision avoidance.The above-mentioned control method for actively accelerating collision avoidance, device and controller provided in an embodiment of the present invention, backward TTC is carried out using existing sensing capability to judge, increase active anticollision ability in rear on the basis of existing anti-collision system, promote user experience, the front truck active anticollision ability under the operating mode that knocks into the back is improved, function increase and expansion are realized.
Description
Technical field
The present invention relates to technical field of vehicle safety, more particularly, to a kind of control method actively accelerating collision avoidance, device
And controller.
Background technology
With the development of economy with the progress of automobile science and technology, it is intensive that highway communication shows highspeed running, wagon flow
Change the trend with driver's deprofessionaliztion.Meanwhile with the rapid development of auto industry, the yield and ownership of automobile are all in urgency
Increase severely and adds.In China, the yield and ownership of automobile increase year by year, but highway development, traffic administration fall behind relatively, lead to vehicle
Misfortune rises year after year.In these traffic accidents, rear-end collision accounts for wherein significant portion, and it is great to often result in heel row passenger
Loss.
Existing vehicle is generally fitted with active safety system, such as forward sight collision avoidance system, lane change collision avoidance system, mostly
It is that vehicle-surroundings environmental information is perceived by various kinds of sensors such as visual sensor, radar sensor, ultrasonic sensor etc., so
Vehicular intelligent controlling behavior is voluntarily executed by control system afterwards, reaches the target of vehicle active safety control.However for above-mentioned
Rear-end collision, there is no effective prevention methods.
Invention content
In view of this, the purpose of the present invention is to provide a kind of control method actively accelerating collision avoidance, device and controller,
Evacuation can actively be accelerated in risk of collision, rear-end collision can be effectively reduced.
In a first aspect, an embodiment of the present invention provides a kind of control method actively accelerating collision avoidance, it is applied in vehicle
Centre controller, this method include：Obtain the rear perception data of vehicle；Rear perception data includes the phase of rear object and vehicle
To speed and distance；Estimated collision time is calculated according to rear perception data in real time；When estimated collision time is less than default keep away
When hindering threshold value, judge that vehicle front whether there is wheeled region；Accelerate control if so, being sent to power plant module control unit
Signal, so that vehicle accelerates collision avoidance.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiment of first aspect, further include：
When estimated collision time is less than preset alarm threshold value, control vehicle is alarmed；Default alarm threshold is more than default avoidance threshold
Value.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiment of first aspect, to dynamic
Power module control unit sends acceleration control signal：Judge vehicle
Safety device whether be in effective working condition；Safety device includes：Car door, vehicle window or safety belt.
With reference to first aspect, an embodiment of the present invention provides the third possible embodiment of first aspect, to dynamic
Power module control unit sends acceleration control signal：Judge estimated
Whether collision time is more than safe deceleration threshold value；Safe deceleration threshold value is more than default avoidance threshold value；If so, to power plant module control
Unit processed sends deceleration control signal, so that vehicle deceleration.
With reference to first aspect and its first to three kind of possible embodiment, an embodiment of the present invention provides first aspects
4th kind of possible embodiment, wherein the step of obtaining the rear perception data of vehicle, including：Receive vehicle rear side to
The rear perception data that radar is sent；Rear side is used to detect the relative velocity and distance of rear object and vehicle to radar.
With reference to first aspect and its first to three kind of possible embodiment, an embodiment of the present invention provides first aspects
5th kind of possible embodiment, wherein judge the step of vehicle front whether there is wheeled region, including：Receive before to
Camera and radar send obstacle information；Judge whether there are obstacles in the pre-determined distance of vehicle front；If deposited
In barrier, determines and wheeled region is not present；If there is no barrier, determine that there are wheeled regions.
Second aspect, the embodiment of the present invention additionally provide a kind of control device actively accelerating collision avoidance, are applied to vehicle
Central controller, the device include：Acquisition module, the rear perception data for obtaining vehicle；After rear perception data includes
The relative velocity and distance of square object body and vehicle；Computing module, for calculating estimated collide according to rear perception data in real time
Time；Judgment module, for when estimated collision time is less than default avoidance threshold value, judging that vehicle front whether there is wheeled
Region；Accelerating module is used for if so, acceleration control signal is sent to power plant module control unit, so that vehicle accelerates
Collision avoidance.
In conjunction with second aspect, an embodiment of the present invention provides the first possible embodiments of second aspect, further include：
Alarm module, for when estimated collision time is less than preset alarm threshold value, control vehicle to be alarmed；Default alarm threshold is big
In default avoidance threshold value.
In conjunction with second aspect, an embodiment of the present invention provides second of possible embodiments of second aspect, further include
Slowdown module；The slowdown module is used for：Judge whether estimated collision time is more than safe deceleration threshold value；Safe deceleration threshold value is more than
Default avoidance threshold value；If so, deceleration control signal is sent to power plant module control unit, so that vehicle deceleration.
The third aspect, the embodiment of the present invention additionally provide a kind of central controller, including processor, memory, bus and
Communication interface, processor, communication interface and memory are connected by bus；Memory is for storing program；Processor, for leading to
It crosses bus and calls program stored in memory, the offer of one of above-mentioned first aspect and its each possible embodiment is provided
Method.
The embodiment of the present invention brings following advantageous effect：
The above-mentioned control method for actively accelerating collision avoidance, device and controller provided in an embodiment of the present invention, pass through vehicle
Rear perception data calculates estimated collision time in real time, is less than default avoidance threshold value in estimated collision time and vehicle front exists
When wheeled region, control vehicle accelerates collision avoidance, in the case where not increasing any hardware cost, that is, is not necessarily in perception system
Increase any sensor on system or promotes sensing capability, carrying out backward TTC using existing sensing capability judges,
Increase active anticollision ability in rear on the basis of existing anti-collision system, promotes user experience, improve the front truck under the operating mode that knocks into the back
Active anticollision ability, realizes function increase and expansion.
Other feature and advantage of the disclosure will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or by implement the disclosure above-mentioned technology it can be learnt that.
To enable the above objects, features, and advantages of the disclosure to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is the structure diagram provided in an embodiment of the present invention for actively accelerating anti-collision system；
Fig. 2 is a kind of flow chart of control method for actively accelerating collision avoidance provided in an embodiment of the present invention；
Fig. 3 is a kind of structure diagram of control device for actively accelerating collision avoidance provided in an embodiment of the present invention；
Fig. 4 is the structure diagram for the control device that another kind provided in an embodiment of the present invention actively accelerates collision avoidance；
Fig. 5 is the structure diagram for the control device that another kind provided in an embodiment of the present invention actively accelerates collision avoidance.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
The existing vehicle collision avoidance system of vehicle has no the function of avoiding knocking into the back, and reason is that system needs to have and judges quilt
The sensing capability for the operating mode that knocks into the back, in the case where rear side is not arranged to sensing device for vehicle, to rear-end collision, there is no effective
Prevention method.
Based on this, a kind of control method actively accelerating collision avoidance, device and controller provided in an embodiment of the present invention can be with
Actively accelerate evacuation in risk of collision, rear-end collision can be effectively reduced.
On the basis of existing vehicle collision avoidance system, increase backward active prevents from chasing after method provided in an embodiment of the present invention
The function of tail, applied to having vehicle of the rear side to sensing device, such as rear side to millimetre-wave radar.The rear side is to millimeter wave thunder
It reaches, has the distance of perception front vehicle, the ability of speed and deceleration, so as to calculate estimated collision time TTC (Time
to Crash).It is provided simultaneously with the wheeled spacial ability for judging vehicle front, the central controller of system can be supported to be made whether
It can accelerate the judgement of evacuation and automatically speed up evacuation, it can be achieved that activating, prevent from being knocked into the back.
It describes in detail below to the embodiment of the present invention.
Embodiment 1
The structure diagram for actively accelerating anti-collision system shown in Figure 1, feels after central controller 11, vehicle is shown
Know module 12, Chinese herbaceous peony sensing module 13, execute control module 14 and car body control module 15.It is perceived after central controller 11 and vehicle
Module 12, Chinese herbaceous peony sensing module 13, execution control module 14 and car body control module 15 are separately connected.
Wherein, the information acquired by sensing module 12 after the vehicle of vehicle, central controller 11 can calculate rear in real time
Carry out the TTC of vehicle, then using result of calculation as the essential condition for actively accelerating collision avoidance function activation.Pass through Chinese herbaceous peony sensing module 13
The information of acquisition, it can be determined that the wheeled region of vehicle front, and carry out comprehensive descision and startup opportunity, acceleration is accelerated to subtract
The controling parameters such as speed.
By car body control module 15, central controller 11 may determine that the car door of vehicle, vehicle window, the vehicles such as seat harness
Ready situation is driven, to judge whether vehicle is supported to automatically speed up without generating injury to passenger and vehicle.
Acceleration or deceleration instruction is sent to and executes control module 14 by central controller 11, is related to the control of power plant module
The control unit of unit and brake module, realizes the control that automatically accelerates and slow down, and vehicle is controlled after preventing vehicle from being knocked into the back and is returned
It is run at a low speed to safety or dead ship condition.
It is provided in an embodiment of the present invention it is above-mentioned actively accelerate anti-collision system, can increase on the basis of existing anti-collision system
Active anticollision ability in rear promotes user experience, realizes the added value for increasing active safety system.Do not increase any hardware at
In the case of this, that is, it is not necessarily to increase any sensor on sensory perceptual system or promotes sensing capability, using existing sense
The ability of knowing carries out backward TTC and judges, perceives judgement then in conjunction with the environment of forward direction, improves the front truck under the operating mode that knocks into the back
Active anticollision ability, realizes function increase and expansion.
Embodiment 2
An embodiment of the present invention provides a kind of control methods actively accelerating collision avoidance, are applied to the central controller of vehicle.
The flow chart of the control method for actively accelerating collision avoidance shown in Figure 2, this method comprises the following steps：
Step S202 obtains the rear perception data of vehicle.
Wherein, rear perception data includes the relative velocity and distance of rear object and vehicle.Central controller and vehicle
Vehicle after sensing module connect, sensing module can be radar or camera etc. after the vehicle, such as rear side is to millimeter wave thunder
It reaches.After above-mentioned vehicle sensing module can determine rear object (such as vehicle or other mobile objects) between current vehicle away from
From the relative velocity of the two and relative acceleration etc..Central controller can receive vehicle rear side sent to radar it is upper
State rear perception data.The process of sensing module acquisition rear perception data is to continue progress in the case of function activation after vehicle
, including the normally travel state of vehicle, dead ship condition and actively accelerate collision avoidance state.
Step S204 calculates estimated collision time according to rear perception data in real time.
In system operation, central controller calculates estimated collision time according to above-mentioned rear perception data in real time, and
When determine that rear is knocked into the back risk.A couple estimated collision time TTC is illustrated by taking common backward central collision as an example, and calculation formula is such as
Under：
TTC=Distance_x/ (Velocity_x_r+0.000001)
Wherein Distance_x be current vehicle after always the x-axis of vehicle it is upward at a distance from, can be perceived by rear radar；
The upward relative velocity of the x-axis of Velocity_x_r current vehicles always vehicle with after, can be perceived by rear radar.
The threshold value being compared with above-mentioned estimated collision time can be prestored in the central controller, it is current to determine
The risk that knocks into the back.Such as work as TTC<When 0, representative has occurred and that collision；When 0<TTC<5s, representative need to carry out acceleration evacuation.
Step S206 judges that vehicle front whether there is wheeled when estimated collision time is less than default avoidance threshold value
Region.If so, executing step S208；If not, terminating.
Such as above-mentioned default avoidance threshold value can be set to any value between 5s-10s, when estimated collision time is less than
When above-mentioned default avoidance threshold value, there are the larger risks that knocks into the back, and startup is needed actively to accelerate collision avoidance.Actively accelerate collision avoidance starting
Before, it is also necessary to judge whether vehicle state in which can carry out active acceleration, that is, consider whether the front of current vehicle deposits
In wheeled region.It is understood that judging the step of vehicle front whether there is wheeled region, can also be obtained above-mentioned
It is carried out before the rear perception data of pick-up, the present embodiment is not limited the execution sequencing of the two, in estimated collision
When time is less than default avoidance threshold value and meets simultaneously there are two, wheeled region condition, following step is continued to execute.
Step S208 sends acceleration control signal, so that vehicle accelerates collision avoidance to power plant module control unit.
In the case where meeting above-mentioned condition, central controller sends acceleration control signal to power plant module control unit,
So that vehicle accelerates collision avoidance.Active can be accelerated different acceleration is arranged according to the difference of above-mentioned default avoidance threshold value
Degree and maximum speed.Such as default avoidance threshold value is bigger, the acceleration and maximum speed are accordingly smaller, and default avoidance threshold value is got over
Small, the acceleration and maximum speed are accordingly larger.It should be noted that when carrying out actively accelerating collision avoidance, vehicle can be with
Activation adaptive cruise is either actively protected to collision avoidance function with controlling vehicle and front vehicles or barrier before brake etc. actively
Hold safe distance.
After carrying out actively accelerating collision avoidance, if rear is knocked into the back, risk is eliminated, and is slowed down, such as control vehicle
The state before actively accelerating is returned to, vehicle can also be controlled and enter safe low-speed running state or dead ship condition.
The above-mentioned control method for actively accelerating collision avoidance provided in an embodiment of the present invention, it is real by the rear perception data of vehicle
When calculate estimated collision time, be less than default avoidance threshold value in estimated collision time and vehicle front be there are when wheeled region,
Control vehicle accelerates collision avoidance, in the case where not increasing any hardware cost, that is, is not necessarily to increase on sensory perceptual system any
Sensor or promote sensing capability, carrying out backward TTC using existing sensing capability judges, in existing anti-collision system
On the basis of increase rear active anticollision ability, promoted user experience, improve the front truck active anticollision ability under the operating mode that knocks into the back,
Realize function increase and expansion.
Above-mentioned steps S206 judges vehicle front with the presence or absence of can when estimated collision time is less than default avoidance threshold value
Running region can carry out in the following manner：
(1) receive before to camera and radar send obstacle information.
(2) judge whether there are obstacles in the pre-determined distance of vehicle front.
Front perception is by preceding to camera (Front look camera), forward direction radar (Front looking
Radar) and the data of ultrasonic radar acquisition are to determine whether space can be exercised by having.Wherein, ultrasonic radar can perceive vehicle
Whether curb is had in the space that 6 meters or so of preceding periphery, and stake cylinder, the barriers such as grove, forward direction radar, which can identify, perceives 200 meters of models
Vehicle in enclosing, two wheeler, the barriers such as pedestrian, forward direction camera can identify the vehicle within the scope of 150 meters of perception, two-wheeled
Vehicle, the barriers such as pedestrian.It is permissible to be kept away from vehicle acceleration in the case of in the pre-determined distance for determining vehicle front without barrier
It allows.The pre-determined distance for example can be 20-50 meters, when the distance of 20-50 meters of vehicle front or farther apart from interior accessible
Object allows to accelerate to avoid from vehicle, not allow then if there is barrier.
(3) it if there is barrier, determines and wheeled region is not present；If there is no barrier, determine that there are feasible
Sail region.
In view of the needs for the warning that the driver of vehicle knock into the back early, in the above-mentioned estimated collision being calculated
Between when estimated collision time is less than preset alarm threshold value, control vehicle is alarmed.The default alarm threshold is more than default keep away
Hinder threshold value, continue by taking any value that above-mentioned default avoidance threshold value is set as between 5s-10s as an example, which can be with
Any value being set as between 10s-15s.
Since when starting automatic obstacle avoidance function, current vehicle is likely to be at transport condition or halted state, is travelling
When state, the safety device of vehicle is typically at effective working condition.The safety device includes：Car door, vehicle window or safety belt,
I.e. in transport condition, under normal circumstances the car door of vehicle be close, safety belt is fastened, carry out accelerating actively to keep away at this time
It hits, injury will not be generated to passenger and vehicle.Abnormal condition car door in halted state either transport condition or safety
Band may be in non-effective working condition, therefore before control vehicle accelerates collision avoidance, the above method can also include：
Judge whether the safety device of vehicle is in effective working condition；When safety device is in effective working condition, allow vehicle
Accelerate evacuation.It can only judge whether car door closes, whether vehicle window closes or whether safety belt is fastened, and can also select as needed
It selects wherein arbitrary two kinds or three kinds while judging, determine that safety device is in effective working condition when meeting.
After carrying out actively accelerating collision avoidance, if rear is knocked into the back, risk is eliminated, and is slowed down, such as control vehicle
The state before actively accelerating is returned to, vehicle can also be controlled and enter safe low-speed running state or dead ship condition.The above method
Further include the steps that control is slowed down, can execute as follows：
(1) judge whether estimated collision time is more than safe deceleration threshold value.The safe deceleration threshold value is more than default avoidance threshold
Value, can also be more than preset alarm threshold value.Such as the safe deceleration threshold value could be provided as 15s.
(2) if so, deceleration control signal is sent to power plant module control unit, so that vehicle deceleration.
The step of being slowed down by above-mentioned control, can enhance the safety for actively accelerating collision avoidance rear vehicle.
Embodiment 3
An embodiment of the present invention provides a kind of control devices actively accelerating collision avoidance, are applied to the central controller of vehicle,
The structure diagram of the control device for actively accelerating collision avoidance shown in Figure 3, the device include：
Acquisition module 31, the rear perception data for obtaining vehicle；Rear perception data includes rear object and vehicle
Relative velocity and distance；
Computing module 32, for calculating estimated collision time according to rear perception data in real time；
Judgment module 33, for when estimated collision time is less than default avoidance threshold value, judging that vehicle front whether there is
Wheeled region；
Accelerating module 34 is used for if so, acceleration control signal is sent to power plant module control unit, so that vehicle accelerates
Carry out collision avoidance.
The structure diagram of the control device for actively accelerating collision avoidance shown in Figure 4, the device further include：Alarm module
41, for when estimated collision time is less than preset alarm threshold value, control vehicle to be alarmed；Default alarm threshold is more than default
Avoidance threshold value.
The structure diagram of the control device for actively accelerating collision avoidance shown in Figure 5, the device further include slowdown module 51；
The slowdown module 15 is used for：Judge whether estimated collision time is more than safe deceleration threshold value；Safe deceleration threshold value is more than default keep away
Hinder threshold value；If so, deceleration control signal is sent to power plant module control unit, so that vehicle deceleration.
Above-mentioned acquisition module 31 is additionally operable to：Receive the rear perception data that the rear side of vehicle is sent to radar；Rear side is to thunder
Up to the relative velocity and distance for detecting rear object and vehicle.
Above-mentioned judgment module 33 is additionally operable to：Receive before to camera and radar send obstacle information；Judge vehicle
Whether there are obstacles in the pre-determined distance in front；If there is barrier, determines and wheeled region is not present；If there is no
Barrier determines that there are wheeled regions.
The above-mentioned control device for actively accelerating collision avoidance provided in an embodiment of the present invention, it is real by the rear perception data of vehicle
When calculate estimated collision time, be less than default avoidance threshold value in estimated collision time and vehicle front be there are when wheeled region,
Control vehicle accelerates collision avoidance, in the case where not increasing any hardware cost, that is, is not necessarily to increase on sensory perceptual system any
Sensor or promote sensing capability, carrying out backward TTC using existing sensing capability judges, in existing anti-collision system
On the basis of increase rear active anticollision ability, promoted user experience, improve the front truck active anticollision ability under the operating mode that knocks into the back,
Realize function increase and expansion.
The embodiment of the present invention additionally provides a kind of controller, including processor, memory, bus and communication interface, at this
Reason device, communication interface are connected with memory by bus；The memory is for storing program；The processor is used to pass through bus tune
With program stored in memory, the method that above-described embodiment provides is executed.
The embodiment of the present invention additionally provides a kind of computer of non-volatile program code that can perform with processor can
Medium is read, program code makes the method that processor executes above-described embodiment offer.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment weight
Point explanation is all difference from other examples, and the same or similar parts between the embodiments can be referred to each other.
The technique effect of the control device and intelligent terminal for the unmanned plane that the embodiment of the present invention is provided, realization principle and generation is with before
It is identical to state embodiment of the method, to briefly describe, device embodiment part does not refer to place, can refer to phase in preceding method embodiment
Answer content.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part for the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially be basically executed in parallel, they are sometimes
It can execute in the opposite order, this is depended on the functions involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use function or the dedicated base of action as defined in executing
It realizes, or can be realized using a combination of dedicated hardware and computer instructions in the system of hardware.
It, can be with if above-mentioned function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
Finally it should be noted that：Embodiment described above, only specific implementation mode of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of control method actively accelerating collision avoidance, which is characterized in that be applied to the central controller of vehicle, this method packet
It includes：
Obtain the rear perception data of vehicle；The rear perception data include rear object with the relative velocity of the vehicle with
And distance；
Estimated collision time is calculated according to the rear perception data in real time；
When the estimated collision time is less than default avoidance threshold value, judge that the vehicle front whether there is wheeled region；
If so, acceleration control signal is sent to power plant module control unit, so that the vehicle accelerates collision avoidance.
2. according to the method described in claim 1, it is characterized in that, further including：
When the estimated collision time is less than preset alarm threshold value, controls the vehicle and alarm；The default alarm threshold
Value is more than the default avoidance threshold value.
3. according to the method described in claim 1, it is characterized in that, accelerating control letter being sent to power plant module control unit
Number, so that before the step of vehicle accelerates collision avoidance, further include：
Judge whether the safety device of the vehicle is in effective working condition；The safety device includes：Car door, vehicle window or peace
Full band.
4. according to the method described in claim 1, it is characterized in that, accelerating control letter being sent to power plant module control unit
Number, so that after the step of vehicle accelerates collision avoidance, further include：
Judge whether the estimated collision time is more than safe deceleration threshold value；The safe deceleration threshold value is more than the default avoidance
Threshold value；
If so, deceleration control signal is sent to the power plant module control unit, so that the vehicle deceleration.
5. according to claim 1-4 any one of them methods, which is characterized in that the rear perception data for obtaining vehicle
Step, including：
Receive the rear perception data that the rear side of vehicle is sent to radar；The rear side is to radar for detecting the rear object
With the relative velocity and distance of the vehicle.
6. according to claim 1-4 any one of them methods, which is characterized in that described to judge that the vehicle front whether there is
The step of wheeled region, including：
Receive before to camera and radar send obstacle information；
Judge whether there are obstacles in the pre-determined distance of the vehicle front；
If there is barrier, determines and wheeled region is not present；If there is no barrier, determine that there are wheeled regions.
7. a kind of control device actively accelerating collision avoidance, which is characterized in that be applied to the central controller of vehicle, the device packet
It includes：
Acquisition module, the rear perception data for obtaining vehicle；The rear perception data includes rear object and the vehicle
Relative velocity and distance；
Computing module, for calculating estimated collision time according to the rear perception data in real time；
Judgment module, for when the estimated collision time is less than default avoidance threshold value, judging whether the vehicle front is deposited
In wheeled region；
Accelerating module, be used for if so, to power plant module control unit send acceleration control signal so that the vehicle accelerate into
Row collision avoidance.
8. device according to claim 7, which is characterized in that further include：
Alarm module, for when the estimated collision time is less than preset alarm threshold value, controlling the vehicle and alarming；Institute
It states default alarm threshold and is more than the default avoidance threshold value.
9. device according to claim 7, which is characterized in that further include slowdown module；The slowdown module is used for：
Judge whether the estimated collision time is more than safe deceleration threshold value；The safe deceleration threshold value is more than the default avoidance
Threshold value；
If so, deceleration control signal is sent to the power plant module control unit, so that the vehicle deceleration.
10. a kind of controller, which is characterized in that including processor, memory, bus and communication interface, the processor, communication
Interface is connected with memory by the bus；
The memory is for storing program；
The processor, for calling the program being stored in the memory, perform claim that 1-6 is required to appoint by the bus
One the method.
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| CN111071151A (en) * | 2019-12-27 | 2020-04-28 | 奇瑞汽车股份有限公司 | Anti-collision method and device for automobile and storage medium |
| CN111127920A (en) * | 2019-12-31 | 2020-05-08 | 湖南大学 | Vehicle-mounted communication-based rear-end collision prevention early warning and control method and system |
| CN111186435A (en) * | 2020-01-19 | 2020-05-22 | 奇瑞汽车股份有限公司 | Anti-collision method and device for automobile and storage medium |
| CN111994071B (en) * | 2020-08-28 | 2022-05-10 | 大陆泰密克汽车系统（上海）有限公司 | Active backward collision avoidance method, system and storage medium |
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| CN112660119A (en) * | 2021-01-14 | 2021-04-16 | 浙江吉利控股集团有限公司 | Vehicle rear collision early warning method |
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