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Emergency lane keeping assisting method for VRU

An emergency lane and emergency technology, applied in the field of emergency lane keeping assistance for VRUs, can solve the problems of rear-end collision and no good control method, and achieve the effect of avoiding collision, promoting value and ensuring driving safety.

Active Publication Date: 2020-12-22
VOYAH AUTOMOBILE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the automatic braking system (AEB) can perform automatic emergency braking for the VRU, but due to the limitation of the maximum speed drop, the AEB may not stop completely, and because AEB braking requires high reliability and coincidence, there are There is a risk of collision but AEB will not brake. AEB braking also has the risk of the vehicle being rear-ended. Therefore, there is currently no good control method for VRU collision scenarios in adjacent lanes.

Method used

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  • Emergency lane keeping assisting method for VRU

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Embodiment Construction

[0017] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0018] The auxiliary system of this embodiment includes the front radar of the car, the front camera, the perception fusion and planning decision-making module, the instrument HMI module, the steering system control module, and the vehicle's motion information (vehicle speed, lateral acceleration, yaw rate). The visual angle (FOV) perceived by the front radar and the front camera of the present embodiment is greater than 90 °, and the front radar and the front camera are used to detect the state of motion of the target vehicle in this lane and the adjacent lane (measure the relative distance, relative speed of the vehicle and the target) , target type, position of the target relative to the lane line, the position of the own vehicle relative to the lane, and the trajectory of the target), the perception fusion and planning decision-mak...

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Abstract

The invention relates to the technical field of automobile safety control, in particular to an emergency lane keeping assisting method for a VRU. After it is judged that an own vehicle has the tendency of deviating from an own lane, VRU target information and lane line information around the own vehicle are collected, whether the current situation of the own vehicle meets the starting condition ofemergency own vehicle deviation rectification or not is judged according to the VRU target information and the lane line information around the own vehicle, if the current situation of the own vehicle meets the starting condition, whether the own vehicle possibly collides with the target VRU or not according to the own vehicle deviation track, if collision possibly occurs, an own vehicle deviation rectifying track for avoiding collision between the own vehicle and the target VRU is obtained, whether the own vehicle deviation rectifying track meets set requirements or not is judged, and if theown vehicle deviation rectifying track meets the set requirements, deviation is rectified according to the own vehicle deviation rectifying track; and the target VRU is the VRU located in a set areaof the own vehicle. According to the method, the vehicle is prevented from colliding with VRUs at the two sides of the own lane, and the driving safety of the vehicle is improved to a great extent.

Description

technical field [0001] The invention relates to the technical field of automobile safety control, in particular to an emergency lane keeping assisting method for a VRU. Background technique [0002] Emergency Lane Keeping Assist (ELKA) detects target information in adjacent lanes and its own lane through environment perception sensors (front radar / front camera). Performs automatic emergency steering to help the driver return to their own lane to avoid a collision. At present, ELKA can only provide emergency lane keeping assistance for vehicles in adjacent lanes, and does not perform automatic emergency steering for vulnerable road users (VRUs). If a vehicle deviates from the lane, there is a risk of collision or scratching the VRU of the non-motorized lane. At present, the automatic braking system (AEB) can perform automatic emergency braking for the VRU, but due to the limitation of the maximum speed drop, the AEB may not stop completely, and because AEB braking requires h...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/12
CPCB60W30/12
Inventor 程名刘会凯刘继峰沈忱
Owner VOYAH AUTOMOBILE TECH CO LTD
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