A reverse brake assist system activation control method, system, and storage medium

Abstract

This invention discloses a method for activating and controlling a reversing brake assist system, comprising the following steps: when the vehicle's automatic parking function is activated and it is in a reversing preparation state, activating a surround-view camera and an ultrasonic radar; receiving real-time information about the vehicle's rear environment collected by the surround-view camera and information about obstacles behind the vehicle collected by the ultrasonic radar, and combining this information with information from the vehicle's onboard ECU, determining whether to activate the vehicle's reversing brake assist system when a curb or flower bed is detected behind the vehicle; and, after activating the reversing brake assist system, applying brakes to the vehicle. This invention also discloses a corresponding system and storage medium. By implementing embodiments of this invention, through the fusion of vision and ultrasonic sensors, the type and size of obstacles during reversing can be accurately identified, reducing false triggering of the reversing brake assist system, improving user experience, and enhancing reversing safety.

Description

Technical Field

[0001] This invention relates to the field of reversing brake assist technology, and in particular to a reversing brake assist system activation control method, system, and storage medium. Background Technology

[0002] In existing technologies, to ensure the safety of reversing, ultrasonic radar is often used to determine whether there are obstacles behind the vehicle. Some existing vehicles also have reversing brake assist control functions. After detecting the distance between the vehicle and the target object using ultrasonic waves, the vehicle's engine speed and torque are limited to control emergency braking and disengage the clutch. This can prevent the engine from stalling or even causing a rollover accident when the clutch fails to disengage in time during emergency braking.

[0003] However, in some applications, such as when reversing over low curbs, flower beds, or ramps, the existing reversing brake assist control function cannot accurately identify these obstacles or when reversing on a ramp, resulting in frequent false triggering of the reversing brake assist system and a poor user experience. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method, system and storage medium for activating a reversing brake assist system. By fusing vision and ultrasound, the type and size of obstacles during reversing can be accurately identified, reducing false triggering of the reversing brake assist system and improving user experience.

[0005] To address the aforementioned technical problems, as one aspect of the present invention, a method for activating and controlling a reversing brake assist system is provided, which includes at least the following steps:

[0006] When the vehicle has activated its automatic parking function and is in the reversing preparation state, turn on the surround view camera and ultrasonic radar.

[0007] It receives real-time information about the vehicle's rear environment from the surround-view camera and information about obstacles behind the vehicle from the ultrasonic radar. Combined with the information received from the on-board ECU, it determines whether to activate the vehicle's reversing brake assist system when a curb or flower bed is detected behind the vehicle.

[0008] After activating the vehicle's reverse brake assist system, use the reverse brake assist system to brake the vehicle.

[0009] Specifically, when the vehicle has activated its automatic parking function and is in the reversing preparation state, activating the surround-view camera and ultrasonic radar involves:

[0010] When the vehicle is in reverse or neutral, if it is determined that the automatic parking function has been activated, the vehicle is in a reversing preparation state; the corresponding surround view camera and ultrasonic radar are activated.

[0011] The steps involved in determining whether to activate the vehicle's reversing brake assist system, including real-time reception of rearward environmental information from surround-view cameras and rearward obstacle information from ultrasonic radar, combined with the received vehicle CAN network information, are as follows:

[0012] Obtain the vehicle's current speed and the gradient of the slope the vehicle is on;

[0013] When the current speed of the vehicle is within the first speed range threshold and the slope of the vehicle is less than the first slope threshold, the ultrasonic radar information is used to determine whether there is an obstacle within a predetermined range behind the vehicle.

[0014] When an obstacle is present, the type of obstacle is determined based on the vehicle's rear environment information collected by the surround-view camera;

[0015] When the obstacle is a curb and the curb height exceeds the rear ground clearance of the vehicle; or when the obstacle is a flower bed and the slope data of the vehicle is zero, the reverse brake assist system of the vehicle is determined and activated; otherwise, the reverse brake assist system of the vehicle is controlled to be inactive.

[0016] The first vehicle speed range threshold is 2km / h to 9km / h; the first gradient threshold range is 5.8 degrees.

[0017] Specifically, after activating the vehicle's reversing brake assist system, the braking process using the reversing brake assist system involves the following steps:

[0018] Based on the distance information of the vehicle to the obstacle behind it collected by the ultrasonic radar, the corresponding braking deceleration information is obtained, and the vehicle is braked according to the braking deceleration information.

[0019] Accordingly, another aspect of the present invention also provides a reversing brake assist system activation control system, which includes at least:

[0020] The reversing information acquisition device activation unit is used to activate the surround view camera and ultrasonic radar when the vehicle has activated the automatic parking function and is in the reversing preparation state.

[0021] The auxiliary system activation determination unit is used to receive the vehicle's rear environment information collected by the surround view camera and the vehicle's rear obstacle information collected by the ultrasonic radar in real time. Combined with the information received from the vehicle ECU, it determines whether the vehicle's reversing brake assist system needs to be activated when a curb or flower bed is detected behind.

[0022] The auxiliary braking processing unit is used to apply braking to the vehicle using the vehicle's reverse braking assist system after the reverse braking assist system is activated.

[0023] In the reversing information collection device activation unit, when the vehicle is in reverse gear or neutral gear, and it is determined that the automatic parking function has been activated, the vehicle is determined to be in a reversing preparation state.

[0024] The auxiliary system activation determination unit includes:

[0025] The vehicle ECU information acquisition unit is used to obtain the vehicle's current speed and the slope data of the vehicle based on each ECU.

[0026] The obstacle detection unit is used to determine whether there is an obstacle within a predetermined range behind the vehicle based on ultrasonic radar information when the current vehicle speed is within a first speed range threshold and the slope data of the vehicle is less than the first slope threshold.

[0027] An obstacle type determination unit is used to determine the type of obstacle based on the vehicle's rear environment information collected by the surround-view camera when an obstacle exists.

[0028] The activation condition judgment and processing unit is used to determine and activate the vehicle's reversing brake assist system when the obstacle is a curb and the curb height exceeds the rear ground clearance of the vehicle; or when the obstacle is a flower bed and the slope data of the vehicle is zero; otherwise, the vehicle's reversing brake assist system is controlled to be inactive.

[0029] The first vehicle speed range threshold is 2km / h to 9km / h; the first gradient threshold range is 5.8 degrees.

[0030] Accordingly, another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the aforementioned method.

[0031] Implementing the embodiments of the present invention has the following beneficial effects:

[0032] This invention provides a method, system, and storage medium for activating a reversing brake assist system. The method involves receiving real-time information about the vehicle's rear environment from a surround-view camera, real-time information about the distance to rear obstacles from an ultrasonic radar, and signals from the vehicle's CAN network (e.g., TCU current gear signal, ESP speed signal, ESP slope signal, etc.). Based on a pre-determined control strategy, the system determines whether to activate the reversing brake assist system and sends control signals (e.g., brake enable signal, brake deceleration signal, etc.) to the vehicle's CAN network for braking. Implementing this invention allows for more accurate identification of rear obstacles, improving reversing safety.

[0033] This invention, based on the fusion of visual and ultrasonic radar, can solve the problem of false triggering of current single ultrasonic radar reversing brake assist systems in roadside and flower bed scenarios, while reducing the probability of false triggering of reversing brake assist systems in slope scenarios, thereby improving the user's reversing experience and reducing user complaints. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, obtaining other drawings based on these drawings without creative effort still falls within the scope of the present invention.

[0035] Figure 1 This is a schematic diagram of the main flow of an embodiment of the reversing brake assist system activation control method provided by the present invention;

[0036] Figure 2 A more detailed flowchart illustrating an embodiment of the reversing brake assist system activation control method provided by the present invention;

[0037] Figure 3 This is a schematic diagram of a structure of an embodiment of the activation control system for a reversing brake assist system provided by the present invention;

[0038] Figure 4 for Figure 3 A schematic diagram of the structure of the auxiliary system activation determination unit. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0040] like Figure 1The diagram shown illustrates the main flow of an embodiment of the reversing brake assist system activation control method provided by the present invention. (In conjunction with...) Figure 2 As shown, in this embodiment, the method includes at least the following steps:

[0041] Step S10: When the vehicle has activated the automatic parking function and is in the reversing preparation state, turn on the surround view camera and ultrasonic radar.

[0042] Specifically, when the vehicle is in reverse or neutral, if it is determined that the automatic parking function has been activated, the vehicle is in a reversing preparation state; the corresponding surround view camera and ultrasonic radar are activated.

[0043] Step S11: Receive the vehicle's rear environment information collected by the surround-view camera and the vehicle's rear obstacle information collected by the ultrasonic radar in real time. Combine the information received by the vehicle's ECU and determine whether the vehicle's reversing brake assist system needs to be activated when a curb or flower bed is detected behind the vehicle.

[0044] Specifically, step S11 includes:

[0045] Obtain the vehicle's current speed and the gradient of the slope the vehicle is on;

[0046] When the vehicle's current speed is within the first speed range threshold (e.g., 2km / h to 9km / h) and the slope of the vehicle is less than the first slope threshold (e.g., 5.8 degrees), the ultrasonic radar information is used to determine whether there are obstacles within a predetermined range behind the vehicle.

[0047] When an obstacle is present, the type of obstacle is determined based on the vehicle's rear environment information collected by the surround-view camera;

[0048] When the obstacle is a curb and the curb height exceeds the rear ground clearance of the vehicle; or when the obstacle is a flower bed and the slope data of the vehicle is zero, the reverse brake assist system of the vehicle is determined and activated; otherwise, the reverse brake assist system of the vehicle is controlled to be inactive.

[0049] Step S12: After activating the vehicle's reversing brake assist system, use the vehicle's reversing brake assist system to brake the vehicle.

[0050] Specifically, in this step, based on the distance information of the vehicle to the obstacle behind it collected by the ultrasonic radar, the corresponding braking deceleration information is obtained, and the vehicle is braked according to the braking deceleration information.

[0051] To better understand this invention, the following combination... Figure 2The method provided by the present invention includes the following steps, as described in more detailed embodiments:

[0052] Step 1: The reversing brake assist activation control system is powered on and initialized.

[0053] Step 2: Receive the current gear signal from the TCU (Automatic Transmission Control Unit), the ESP (Electronic Stability Program) speed signal, the ESP slope signal, and the automatic parking function activation status signal from the vehicle's CAN network in real time.

[0054] Step 3: Based on the received TCU current gear signal from the vehicle CAN network, determine whether the current gear is R (reverse) or N (neutral). If it is R or N, proceed to step 4; otherwise, proceed to step 14.

[0055] Step 4: Based on the received vehicle CAN network automatic parking function status signal, determine whether the automatic parking function is currently activated. If the automatic parking function is not activated, proceed to step (5); if the automatic parking function is activated, proceed to step (14).

[0056] Step 5: Activate the camera and ultrasonic radar to collect real-time information on the environment behind the vehicle and the distance to obstacles.

[0057] Step 6: Based on the received vehicle speed signal from the ESP CAN network, determine whether the current vehicle speed signal is within range a. If it is within range a, proceed to step 7; otherwise, proceed to step 14.

[0058] Step 7: Based on the slope signal received from the vehicle's CAN network ESP, determine whether the current vehicle is on a slope with a gradient less than b. If it is on a slope less than b, proceed to step 8; if the vehicle is on a slope greater than or equal to b, proceed to step 14.

[0059] Step 8: Receive the distance of the obstacle detected by the ultrasonic radar in real time, and determine whether the current distance of the obstacle is within the range of the reversing brake assist system. If it is within the system activation range, proceed to step 9; otherwise, proceed to step 14.

[0060] Step 9: Receive real-time environmental information about the area behind the vehicle from the camera and determine whether the obstacle behind the vehicle is a road curb. If it is a road curb, proceed to step 10; otherwise, proceed to step 12.

[0061] Step 10: Determine whether the height of the road curb behind the vehicle exceeds the ground clearance of the rear of the vehicle. If the height of the road curb is greater than or equal to the ground clearance of the rear of the vehicle, proceed to step 11; if it is less than the ground clearance of the rear of the vehicle, proceed to step 14.

[0062] Step 11: Activate the reversing brake assist system. This completes the reversing brake assist system activation judgment.

[0063] Step 12: Determine if the obstacle behind the vehicle is a flower bed. If it is a flower bed, proceed to step 14; otherwise, proceed to step 13.

[0064] Step 13: Determine if there is a slope behind the vehicle. If there is no slope, proceed to step 11. If there is a slope, proceed to step 11.

[0065] Step 14: If the reversing brake assist system is not activated, the reversing brake assist system activation judgment ends.

[0066] The values ​​of a and b can be adjusted according to actual applications. In one embodiment of the present invention, the value of a is 2km / h-9km / h and the value of b is 5.8°.

[0067] It is understood that in the method provided by this invention, by receiving real-time information about the vehicle's rear environment from a surround-view camera, real-time information about the distance to obstacles behind the vehicle from an ultrasonic radar, and signals from the vehicle's CAN network (such as the TCU current gear signal, ESP speed signal, ESP slope signal, etc.), the system determines whether to activate the reversing brake assist system according to a software control strategy, and sends control signals (such as brake enable signal, brake deceleration signal, etc.) to the vehicle's CAN network to control the braking operation. By fusing vision and ultrasonic radar, the system can solve the problem of false triggering in roadside and flowerbed scenarios, while also reducing the probability of false triggering of the reversing brake assist system in slope scenarios, thereby improving the user experience and reducing market complaints.

[0068] like Figure 3 The diagram shown illustrates a structural schematic of an embodiment of the reversing brake assist system activation control system provided by the present invention. (In conjunction with...) Figure 4 As shown, in this embodiment, the system 1 includes at least:

[0069] The reversing information acquisition device activation unit 10 is used to activate the surround view camera and ultrasonic radar when the vehicle has activated the automatic parking function and is in the reversing preparation state; wherein, when the vehicle is in reverse gear or neutral gear, and it is determined that the vehicle has activated the automatic parking function, it is determined that the vehicle is in the reversing preparation state.

[0070] The auxiliary system activation determination unit 11 is used to receive the vehicle's rear environment information collected by the surround view camera and the vehicle's rear obstacle information collected by the ultrasonic radar in real time. Combined with the information received by the vehicle ECU, it determines whether the vehicle's reversing brake assist system needs to be activated when a curb or flower bed is detected behind.

[0071] The auxiliary braking processing unit 12 is used to perform braking processing on the vehicle using the vehicle's reversing brake assist system after the reversing brake assist system of the vehicle is activated.

[0072] More specifically, in one example, the auxiliary system activation determination unit 11 further includes:

[0073] The vehicle ECU information acquisition unit 110 is used to acquire the current vehicle speed and the slope data of the vehicle based on each ECU.

[0074] The obstacle determination unit 111 is used to determine whether there is an obstacle within a predetermined range behind the vehicle based on ultrasonic radar information when the current vehicle speed is within a first speed range threshold and the slope data of the vehicle is less than the first slope threshold. In one example, the first speed range threshold is 2km / h to 9km / h and the first slope threshold range is 5.8 degrees.

[0075] The obstacle type determination unit 112 is used to determine the type of obstacle based on the vehicle's rear environment information collected by the surround-view camera when an obstacle exists.

[0076] The activation condition judgment and processing unit 113 is used to determine and activate the vehicle's reversing brake assist system when the obstacle is a curb and the curb height exceeds the rear ground clearance of the vehicle; or when the obstacle is a flower bed and the slope data of the vehicle is zero; otherwise, it controls the vehicle's reversing brake assist system to be inactive.

[0077] For more details, please refer to and combine with the above. Figures 1 to 2 The description of that will not be repeated here.

[0078] As another aspect of the present invention, a computer-readable storage medium is also provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements as follows: Figure 1 The steps of the described method. For more details, please refer to and combine with the foregoing explanation. Figures 1 to 2 The description of that will not be repeated here.

[0079] Implementing the embodiments of the present invention has the following beneficial effects:

[0080] This invention provides a method, system, and storage medium for activating a reversing brake assist system. The method involves receiving real-time information about the vehicle's rear environment from a surround-view camera, real-time information about the distance to rear obstacles from an ultrasonic radar, and signals from the vehicle's CAN network (e.g., TCU current gear signal, ESP speed signal, ESP slope signal, etc.). Based on a pre-determined control strategy, the system determines whether to activate the reversing brake assist system and sends control signals (e.g., brake enable signal, brake deceleration signal, etc.) to the vehicle's CAN network for braking. Implementing this invention allows for more accurate identification of rear obstacles, improving reversing safety.

[0081] This invention, based on the fusion of visual and ultrasonic radar, can solve the problem of false triggering of current single ultrasonic radar reversing brake assist systems in roadside and flower bed scenarios, while reducing the probability of false triggering of reversing brake assist systems in slope scenarios, thereby improving the user's reversing experience and reducing user complaints.

[0082] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0084] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A method for activating and controlling a reversing brake assist system, characterized in that, It should include at least the following steps: When the vehicle has activated its automatic parking function and is in the reversing preparation state, turn on the surround view camera and ultrasonic radar. It receives real-time information about the vehicle's rear environment from the surround-view camera and information about obstacles behind the vehicle from the ultrasonic radar. Combined with the information received from the on-board ECU, it determines whether to activate the vehicle's reversing brake assist system when a curb or flower bed is detected behind the vehicle. After activating the vehicle's reverse brake assist system, apply the brakes to the vehicle. The process of receiving real-time rearward environmental information from surround-view cameras and rearward obstacle information from ultrasonic radar, combined with information from the onboard ECU, to determine whether to activate the vehicle's reversing brake assist system when a curb or flower bed is detected behind the vehicle, includes the following steps: Obtain the vehicle's current speed and the gradient of the slope the vehicle is on; When the vehicle's current speed is within a first speed range threshold and the slope of the vehicle is less than the first slope threshold, the presence of an obstacle within a predetermined range behind the vehicle is determined based on ultrasonic radar information; wherein, the first speed range threshold is 2km / h~9km / h; and the first slope threshold is 5.8 degrees. When an obstacle is present, the type of obstacle is determined based on the vehicle's rear environment information collected by the surround-view camera; When the obstacle is a curb and the curb height exceeds the rear ground clearance of the vehicle; or when the obstacle is a flower bed and the slope data of the vehicle is zero, the reverse brake assist system of the vehicle is determined and activated; otherwise, the reverse brake assist system of the vehicle is controlled to be inactive.

2. The method as described in claim 1, characterized in that, When the vehicle's automatic parking function is activated and it is in the reversing preparation state, the steps to activate the surround view camera and ultrasonic radar include: When the vehicle is in reverse or neutral, if it is determined that the automatic parking function has been activated, the vehicle is in a reversing preparation state; the corresponding surround view camera and ultrasonic radar are activated.

3. The method according to any one of claims 1 to 2, characterized in that, After activating the vehicle's reverse brake assist system, the braking procedures include: Based on the distance information of the vehicle to the obstacle behind it collected by the ultrasonic radar, the corresponding braking deceleration information is obtained, and the vehicle is braked according to the braking deceleration information.

4. A reversing brake assist system activation control system, characterized in that, At least including: The reversing information acquisition device activation unit is used to activate the surround view camera and ultrasonic radar when the vehicle has activated the automatic parking function and is in the reversing preparation state. The auxiliary system activation determination unit is used to receive the vehicle's rear environment information collected by the surround view camera and the vehicle's rear obstacle information collected by the ultrasonic radar in real time. Combined with the information received from the vehicle ECU, it determines whether the vehicle's reversing brake assist system needs to be activated when a curb or flower bed is detected behind. The auxiliary braking processing unit is used to apply braking to the vehicle using the vehicle's reversing brake assist system after the reversing brake assist system is activated. The auxiliary system activation determination unit includes: The vehicle ECU information acquisition unit is used to obtain the vehicle's current speed and the slope data of the vehicle based on each ECU. The obstacle detection unit is used to determine whether there is an obstacle within a predetermined range behind the vehicle based on ultrasonic radar information when the current vehicle speed is within a first speed range threshold and the slope data of the vehicle is less than the first slope threshold; wherein, the first speed range threshold is 2km / h~9km / h; and the first slope threshold is 5.8 degrees. An obstacle type determination unit is used to determine the type of obstacle based on the vehicle's rear environment information collected by the surround-view camera when an obstacle exists. The activation condition judgment and processing unit is used to determine and activate the vehicle's reversing brake assist system when the obstacle is a curb and the height of the curb exceeds the ground clearance of the vehicle's rear end; or when the obstacle is a flower bed and the slope data of the vehicle is zero; otherwise, the vehicle's reversing brake assist system is kept in an inactive state.

5. The system as described in claim 4, characterized in that, In the reversing information collection device activation unit, when the vehicle is in reverse gear or neutral gear, and it is determined that the automatic parking function has been activated, the vehicle is determined to be in a reversing preparation state.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 3.

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