CN106945663B - Anti-collision method for turning vehicle - Google Patents

Abstract

Embodiments of the present invention provide a method for preventing collision of a turning vehicle. The anti-collision method for turning vehicles includes: judging whether the vehicle satisfies: the driving speed is less than a predetermined value and is in a turning state, if not, stopping the anti-collision method for turning vehicles; when the driving speed of the vehicle is less than a predetermined value and in a turning state , detect the distance between the vehicle and surrounding objects; determine whether the vehicle is in one of the following states: the vehicle is about to collide with surrounding objects, or the vehicle is driving in a narrow area; if the vehicle is about to collide with surrounding objects, the vehicle is braked to prevent Stop the vehicle; if the vehicle is driving in a narrow area, limit the driving speed of the vehicle so that the driving speed of the vehicle does not exceed the preset speed. According to the anti-collision method for a turning vehicle according to the embodiment of the present invention, the speed of the turning vehicle can be limited in a simple manner to prevent a collision.

Description

Anti-collision method for turning vehicles

technical field

Embodiments of the present invention relate to vehicle technology, and in particular, to a collision avoidance method for a turning vehicle.

Background technique

How to improve cornering safety is a research focus in the field of vehicle technology. At present, various electronic stability control systems have been developed to deal with the possible sideslip, loss of trajectory control, or collision of turning vehicles. In these solutions, the control system detects the wheel speed, wheel direction, vehicle lateral acceleration, vehicle yaw rate, braking force, distance between the vehicle and obstacles, etc., and obtains the driving state of the vehicle itself and/or the vehicle and obstacles. The possibility of collision between, and then actively control the chassis and wheel direction to ensure the stability of the vehicle and/or prevent the vehicle from colliding with obstacles. Such systems are generally not universal, require the calibration and adjustment of the chassis for a specific model of vehicle, are technically complex, and are expensive.

There is room for improvement in the anti-collision method of turning vehicles.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a method for preventing collision of a turning vehicle.

According to one aspect, an embodiment of the present invention provides a method for anti-collision of a turning vehicle, comprising: judging whether the vehicle satisfies: the driving speed is less than a predetermined value and is in a turning state, if not, stopping the anti-collision of the turning vehicle method; detecting the distance between the vehicle and surrounding objects; judging whether the vehicle is in one of the following states: the vehicle is about to collide with surrounding objects, or the vehicle is driving in a narrow area; if the vehicle is about to collide with surrounding objects, the vehicle is braked to stop the vehicle; if the vehicle is driving in a narrow area, the speed of the vehicle is limited.

In the embodiment of the present invention, under the condition that the wheels are turned, it is determined that the vehicle is in a turning state.

In the embodiment of the present invention, when the distance between the vehicle and the surrounding object is less than or equal to the first threshold, it is determined that the vehicle is about to collide with the surrounding object.

In an embodiment of the present invention, when the distance between the vehicle and surrounding objects is greater than a first threshold and less than or equal to a second threshold, it is determined that the vehicle is driving in a narrow area, and the second threshold is greater than the first threshold.

In an embodiment of the present invention, detecting the distance between the vehicle and surrounding objects includes: detecting a first distance between the vehicle and an object in front of the right, a second distance between the vehicle and an object in the left front, a third distance between the vehicle and an object in the left rear, and a distance between the vehicle and the object in the left. The fourth distance to the right rear object.

In the embodiment of the present invention, if any of the following conditions are met, it is determined that the vehicle is about to collide with a surrounding object: the sum of the first distance and the third distance is less than or equal to the first threshold, the second distance and the fourth distance The sum is less than or equal to the first threshold, the first distance is less than or equal to the third threshold, the second distance is less than or equal to the third threshold, the third distance is less than or equal to the third threshold, or the fourth distance is less than or equal to the third threshold. If the following conditions are met, it is determined that the vehicle is driving in a narrow area: the sum of the first distance and the third distance is greater than the first threshold and less than or equal to the second threshold, and the sum of the second distance and the fourth distance is greater than the first threshold and less than or equal to the second The threshold, the first distance is greater than the third threshold, the second distance is greater than the third threshold, the third distance is greater than the third threshold, and the fourth distance is greater than the third threshold.

In the embodiment of the present invention, under the condition that the wheels are not turned, if the first distance is not equal to the fourth distance, or the second distance is not equal to the third distance, it is determined that the vehicle is in a turning state.

According to the anti-collision method for a turning vehicle according to the embodiment of the present invention, the speed of the turning vehicle can be limited in a simple manner to prevent a collision.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings of the embodiments will be briefly described below. It should be understood that the drawings described below only relate to some embodiments of the present invention, rather than limit the present invention. in:

1 is a schematic diagram of a vehicle turning and driving;

2 is a schematic flow chart of a method for preventing collision of a turning vehicle provided by an embodiment of the present invention;

FIG. 3 is a schematic block diagram of an apparatus for implementing the method for preventing collision of a turning vehicle provided by an embodiment of the present invention.

Detailed ways

In order to make the technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts also fall within the protection scope of the present invention.

FIG. 1 is a schematic diagram of a vehicle turning driving state. As shown in FIG. 1 , during the turning process of the vehicle, if the driver operates improperly (for example, the turning angle is insufficient and the vehicle speed is too fast), the vehicle may not be able to avoid obstacles in time (for example, as shown by the dotted line in FIG. 1 ).

FIG. 2 is a schematic flowchart of a method for preventing collision of a turning vehicle provided by an embodiment of the present invention. As shown in FIG. 2 , the method for preventing collision of turning vehicles includes the following steps: Step S101, judging whether the vehicle satisfies: the driving speed is less than a predetermined value and is in a turning state; Collision method, if satisfied, then enter step S103, detect the distance between the vehicle and surrounding objects; step S104, determine whether the vehicle is in one of the following states: the vehicle is about to collide with surrounding objects, or the vehicle is driving in a narrow area; if the vehicle is about to If the vehicle collides with surrounding objects, then proceed to step S105 to brake the vehicle to stop the vehicle; if the vehicle is traveling in a narrow area, proceed to step S106 to limit the traveling speed of the vehicle.

In step S101, the activation conditions of the turning vehicle collision avoidance method are limited. When the vehicle speed is greater than a predetermined value, the anti-collision method for turning vehicles is stopped, so as to prevent the vehicle from being braked suddenly when passing through the curve quickly, or losing the power to accelerate, so that the driver cannot control the driving trajectory of the vehicle. As an example, the predetermined value may be 20 km/h.

Furthermore, if the driver does not operate the steering wheel at all times to steer the wheels W (eg, front wheels) of the vehicle, it can be considered that there is no need to turn, and the turning vehicle collision avoidance method is stopped. The state of the wheel can be directly acquired by the sensor on the wheel, or it can be directly determined that the vehicle is in a turning state when the steering wheel is turned.

In step S103, any sensor may be used to detect the distance between the vehicle and surrounding objects. For example, a high-precision solution is to use sensors such as lidar that can scan in a large range to conduct a comprehensive scan of the surrounding area of the vehicle to obtain the distance between the vehicle and surrounding objects in all directions, which can obtain more accurate data. Figure 1 shows another solution that is easier to implement, detecting the first distance D1 between the vehicle and the right front object, the second distance D2 between the vehicle and the left front object, the third distance D3 between the vehicle and the left rear object, the vehicle The fourth distance D4 to the right rear object. In this way, the state of the vehicle can be judged by obtaining less data.

In step S104, based on the information of the distance between the vehicle and surrounding objects, it is determined whether the vehicle is in one of the following states: the vehicle is about to collide with the surrounding objects, or the vehicle is traveling in a narrow area.

Based on observations of driving in curves, when the space between the vehicle and surrounding objects is very small, it will be difficult to avoid obstacles while the vehicle is continuously driving. The driver had to stop and reroute the vehicle several times to prevent a collision. Corresponding to such a situation, a smaller first threshold may be set, and when the distance between the vehicle and the surrounding object is less than or equal to the first threshold, it is determined that the vehicle is about to collide with the surrounding object.

In another case, where there is more space between the vehicle and surrounding objects, the driver can control the vehicle to continue driving at a lower speed through the curve. Corresponding to such a situation, a second threshold value greater than the first threshold value may be set, and when the distance between the vehicle and surrounding objects is greater than the first threshold value and less than or equal to the second threshold value, it is determined that the vehicle is traveling in a narrow area.

As an example, the distance between the vehicle and surrounding objects may use a minimum value among a plurality of distances, for example, a minimum value among the first distance D1, the second distance D2, the third distance D3, and the fourth distance D4. The first threshold and the second threshold can be specifically set according to experiments.

As another more precise example, the sum between multiple distances can also be used simultaneously to better represent the size of the space around the vehicle. For example, if any of the following conditions are met, it is determined that the vehicle is about to collide with surrounding objects: the sum of the first distance D1 and the third distance D3 is less than or equal to the first threshold, and the sum of the second distance D2 and the fourth distance D4 Less than or equal to the first threshold, the first distance D1 is less than or equal to the third threshold, the second distance D2 is less than or equal to the third threshold, the third distance D3 is less than or equal to the third threshold, or the fourth distance D4 is less than or equal to the third threshold. As an example, the first threshold may be 2 cm and the third threshold may be 0.5 cm. That is, when the distance between the vehicle and surrounding objects is less than or equal to 0.5cm, or the sum of the distances on both sides of the vehicle is less than or equal to 2cm, it can be considered that the space between the vehicle and surrounding objects is very small. In the event of a collision, it is necessary to proceed to step S105 to brake the vehicle.

In addition, if the following conditions are met, it can be determined that the vehicle is traveling in a narrow area: the sum of the first distance D1 and the third distance D3 is greater than the first threshold and less than or equal to the second threshold, and the sum of the second distance D2 and the fourth distance D4 is greater than The first threshold is less than or equal to the second threshold, the first distance D1 is greater than the third threshold, the second distance D2 is greater than the third threshold, the third distance D3 is greater than the third threshold, and the fourth distance D4 is greater than the third threshold. By way of example and not limitation, the second threshold may be 40 cm. That is, the distance between the vehicle and surrounding objects is greater than 0.5cm at any point, and the sum of the distances on both sides of the vehicle is greater than 2cm, which is considered to be basically safe. However, since the sum of the distances on both sides of the vehicle is less than or equal to 40cm, the speed of the vehicle is too fast. , collisions may still occur. Therefore, step S106 may be entered to limit the speed of the vehicle.

In step S105, in order to ensure safety, the vehicle may be braked to stop the vehicle. When braking and stopping the vehicle, the driver can be prompted in any human-computer interaction mode (eg, sound or light, etc.). Also, the brakes can be released after the driver adjusts the driving route, and the vehicle can be driven slowly at the starting speed until the driver drives the vehicle away from the area where a collision may occur.

In step S106, the speed of the vehicle may be limited, for example, the throttle valve may be controlled to limit the fuel supply of the engine, or the active braking may be performed to limit the speed of the vehicle. As an example, the speed of the vehicle may be limited to 10 km/h, or 5 km/h, or the like. When the speed limit is set for the vehicle, the driver can be prompted in any human-computer interaction mode (eg, sound or light, etc.).

It should be understood that, in FIG. 2 , the method for preventing collision of a turning vehicle is illustrated in the form of a sequence block diagram, but this is not a limitation on the sequence of each step.

For example, step S103 may be performed first to obtain the distance between the vehicle and surrounding objects, and then step S101 may be performed. In addition, in this case, as an auxiliary means, it can also be determined whether the vehicle is in a turning state based on the distance information between the vehicle and surrounding objects. Specifically, as shown in FIG. 1 , if the fourth distance D4 is greater than the first distance D1 , it can be indicated that the vehicle needs to turn to the left during the forward process to avoid objects on the right. If the second distance D2 is greater than the third distance D3, it can be indicated that the vehicle needs to turn to the right to avoid the object on the left during the backward process. In the embodiment of the present invention, as an aid for detecting the state of the steering wheel, it can also be set: if the first distance D1 is not equal to the fourth distance D4, or the second distance D2 is not equal to the third distance D3, it is determined that the vehicle has a turning need .

According to the anti-collision method for a turning vehicle according to the embodiment of the present invention, the speed of the turning vehicle can be limited in a simple manner, giving the driver more time to perform the turning operation, so as to prevent the collision. When necessary, active braking is also possible to stop the vehicle, reducing the possibility of human error.

FIG. 3 is a schematic block diagram of an apparatus for implementing the method for preventing collision of a turning vehicle provided by an embodiment of the present invention. As shown in FIG. 3 , the anti-collision device 10 for turning vehicles may include: a distance sensor 11 , a processor unit 12 , a wheel direction sensor 13 , and a vehicle speed sensor 14 .

The distance sensor 11 is configured to detect the distance between the vehicle and surrounding objects. As an example, the distance sensor 11 may be a millimeter wave radar. The distance sensor 11 of the anti-collision device 10 for a turning vehicle can be independently set on the vehicle that has been shipped from the factory, or can use existing equipment on the vehicle, such as a parking radar, a detection radar of an adaptive cruise system, and the like. The distance sensors 11 may include: a first distance sensor located in the front right of the vehicle, a second distance sensor located in the front left of the vehicle, a third distance sensor located in the rear left of the vehicle, and a fourth distance sensor located in the rear right of the vehicle. In this way, the situation around the vehicle can be acquired with fewer sensors.

The processor unit 12 is configured to: determine whether the vehicle satisfies: the traveling speed is less than a predetermined value and is in a turning state, if not, stop the turning vehicle collision avoidance method. The processor unit 12 is further configured to determine whether the vehicle is in one of the following states: the vehicle is about to collide with a surrounding object, or the vehicle is traveling in a narrow area; if the vehicle is about to collide with a surrounding object; if the vehicle is about to collide with a surrounding object , the vehicle controller 20 is sent an instruction to brake the vehicle to stop the vehicle; if the vehicle is traveling in a narrow area, an instruction to limit the speed of the vehicle is sent to the vehicle controller 20 .

As an example, the processor unit 12 of the turning vehicle collision avoidance device 10 may be an independently provided hardware circuit including a microcontroller or the like, communicating with the vehicle controller 20 to transmit speed limit or braking instructions. The processor unit 12 may also be a hardware or software module already provided in the vehicle controller 20 to improve the integration degree of the vehicle electronic control system.

The wheel orientation sensor 13 is configured to provide wheel orientation information to the processor unit 12 . The processor unit 12 is configured to determine that the vehicle needs to turn when the wheels are turned. The wheel direction sensor 13 may be any sensor capable of detecting whether the wheel is turned, and may be provided at the wheel position or the steering wheel position. The wheel direction sensor 13 can be set independently, or can reuse any existing sensor.

The vehicle speed sensor 14 is used to detect the traveling speed of the vehicle, and if the traveling speed of the vehicle is greater than a predetermined value, the turning vehicle collision avoidance method is stopped. This can prevent the vehicle from being braked suddenly when passing through a curve quickly, or losing the power to accelerate so that the driver cannot control the driving trajectory of the vehicle.

As shown in FIG. 3 , as an example, the processor unit 12 is a part of the vehicle controller 20 , and the functions of the processor unit 12 may be implemented by software modules running in the vehicle controller 20 . The distance sensor 11 , the wheel direction sensor 13 , and the vehicle speed sensor 14 are all sensors already installed on the vehicle, and communicate with the vehicle controller 20 through the CAN network.

According to the embodiment of the present invention, the anti-collision method for a turning vehicle can be implemented on a factory vehicle in a simple manner, and can be integrated into an existing vehicle control system as shown in FIG. 3 . The anti-collision method for turning vehicles controls the vehicle by limiting the speed. At the same time, it can use sound or light to give warnings, so that the driver has time to judge and correct the direction of the wheels. It does not involve complex control of the wheels, so there is no need for chassis calibration and calibration. Adjustment reduces the cost and time of production. The parameters involved in the method are convenient to change, have high versatility, can be applied to different models, and have low cost.

It can be understood that the above embodiments are only exemplary embodiments adopted to illustrate the principle of the present invention, but the present invention is not limited thereto. For those skilled in the art, without departing from the spirit and essence of the present invention, various modifications and improvements can be made, and these modifications and improvements are also regarded as the protection scope of the present invention.

Claims (8)

1. A method for collision avoidance for a turning vehicle, comprising:

judging whether the vehicle meets the following conditions: the running speed is less than a preset value, the vehicle is in a turning state, and if the running speed is not met, the anti-collision method of the turning vehicle is stopped;

detecting the distance between the vehicle and a surrounding object when the vehicle running speed is less than a preset value and in a turning state;

determining whether the vehicle is in one of the following states: the vehicle is about to collide with surrounding objects or the vehicle is driven in a narrow area;

braking the vehicle to stop the vehicle if the vehicle is about to collide with a surrounding object;

if the vehicle is traveling in a narrow area, the traveling speed of the vehicle is limited so that the traveling speed of the vehicle does not exceed a preset speed.

2. The turning vehicle collision avoidance method according to claim 1, wherein it is determined that the vehicle is in a turning state under the condition that the wheels are turned.

3. The turning vehicle collision avoidance method according to claim 1, characterized in that it is determined that the vehicle is about to collide with the surrounding object when the distance between the vehicle and the surrounding object is equal to or less than a first threshold value.

4. A turning vehicle collision avoidance method according to claim 3, characterized in that it is determined that the vehicle is traveling in a narrow area when the distance of the vehicle from the surrounding object is greater than a first threshold value and equal to or less than a second threshold value, the second threshold value being greater than the first threshold value.

5. The turning vehicle collision avoidance method according to claim 4, wherein detecting a distance of the vehicle from a surrounding object comprises:

a first distance between the vehicle and a right front object, a second distance between the vehicle and a left front object, a third distance between the vehicle and a left rear object, and a fourth distance between the vehicle and a right rear object are detected.

6. A turning vehicle collision prevention method according to claim 5,

it is determined that the vehicle is about to collide with a surrounding object if any of the following conditions is satisfied: the sum of the first distance and the third distance is less than or equal to a first threshold, the sum of the second distance and the fourth distance is less than or equal to the first threshold, the first distance is less than or equal to a third threshold, the second distance is less than or equal to a third threshold, the third distance is less than or equal to a third threshold, or the fourth distance is less than or equal to a third threshold;

it is determined that the vehicle is traveling in a narrow area if the following conditions are satisfied: the sum of the first distance and the third distance is larger than a first threshold and smaller than or equal to a second threshold, the sum of the second distance and the fourth distance is larger than the first threshold and smaller than or equal to the second threshold, the first distance is larger than the third threshold, the second distance is larger than the third threshold, the third distance is larger than the third threshold, and the fourth distance is larger than the third threshold.

7. A turning vehicle collision avoidance method according to claim 5, wherein in a condition that the wheels are not turning, if the first distance is not equal to the fourth distance, or the second distance is not equal to the third distance, it is determined that the vehicle is in a turning state.

8. A turning vehicle collision prevention method according to claim 1, wherein the preset speed of the speed limit is 5km/h or 10 km/h.

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