Low target collision avoidance system and method

Abstract

The application provides a low target collision avoidance system and method, and belongs to the field of automatic emergency braking of automobiles.The low target collision avoidance system comprises a front camera, a surround-view camera, an ADAS module and an actuator; the front camera can communicate with the surround-view camera; the front camera and the surround-view camera can respectively communicate with the ADAS module; and the ADAS module can communicate with the actuator. The application can realize automatic emergency braking function for low targets, thereby avoiding collision and increasing driving safety.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of automatic emergency braking of automobiles, and particularly relates to a low target object collision avoidance system and method. BACKGROUND

[0002] At present, the sensing technologies adopted by automobile enterprises are mainly front single radar scheme, front radar and camera fusion scheme and front single camera scheme. For the front single camera scheme, because the front camera has an angle, there is a visual blind area at a certain distance and height in front of the vehicle, and when the target object enters the visual blind area, the front camera cannot detect the target object, so the automatic emergency braking (AEB) function cannot be performed on the target object, and thus the collision cannot be successfully avoided. Even if the automatic emergency braking (AEB) function is triggered at a long distance, when the target object enters the visual blind area of the front camera, the automatic emergency braking (AEB) function will lose the target because the front camera cannot detect the target object, and thus the automatic emergency braking (AEB) function is exited, so the collision cannot be successfully avoided. SUMMARY

[0003] The application aims to solve the problems in the prior art, and provides a low target object collision avoidance system and method, which can perform the automatic emergency braking function on the low target object, so as to avoid the collision and increase the driving safety.

[0004] The application is implemented by the following technical scheme:

[0005] In a first aspect, the application provides a low target object collision avoidance system, which comprises a front camera, a surround-view camera, an ADAS module and an actuator.

[0006] The front camera can communicate with the surround-view camera.

[0007] The front camera and the surround-view camera can respectively communicate with the ADAS module.

[0008] The ADAS module can communicate with the actuator.

[0009] Preferably, the front camera communicates with the surround-view camera through a CAN bus.

[0010] Preferably, the front camera and the surround-view camera both communicate with the ADAS module through a CAN bus.

[0011] The second aspect of the present application provides a low target collision avoidance method, which is realized by the system described above, wherein the front camera monitors and classifies all targets, and the surround camera monitors the low target when the low target enters the blind area of the front camera.

[0012] The further improvement of the present application is that:

[0013] The method comprises:

[0014] The method comprises: (1) The front camera monitors and classifies the targets, obtains the target types, and determines whether each type of target needs to trigger AEB.

[0015] (2) The front camera sends the target types and the signal of whether AEB needs to be triggered to the surround camera.

[0016] (3) The surround camera selects the low target according to the received target types, and determines whether the low target is on the driving track of the vehicle, and if so, the surround camera triggers AEB.

[0017] Preferably, the operation of step (1) further comprises:

[0018] If there is a target that needs to trigger AEB, the front camera triggers AEB.

[0019] Preferably, in step (3), the front camera always monitors all targets in the non-blind area, and if a target that needs to trigger AEB appears, the front camera triggers AEB.

[0020] Preferably, the operations of the surround camera triggering AEB and the front camera triggering AEB both comprise: sending an AEB request signal to the ADAS module, and then the ADAS module sends a brake signal to the actuator.

[0021] Compared with the prior art, the present application has the beneficial effects that: the low target can be automatically braked (AEB) by the present application, so as to avoid collision and increase driving safety. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 Schematic diagram of working principle of long-distance system;

[0023] Figure 2 Schematic diagram of working principle of low target entering the blind area of the front camera. DETAILED DESCRIPTION

[0024] The present application will be described in further detail below with reference to the accompanying drawings:

[0025] As Figure 1and Figure 2 As shown in the drawings, the present application provides a low target collision avoidance system, which comprises a front camera, a surround camera, an ADAS module (advanced driving assistance module) and an actuator. Wherein the front camera and the surround camera can respectively communicate with the ADAS module, the ADAS module can communicate with the actuator, and the front camera can communicate with the surround camera through the existing CAN bus on the vehicle.

[0026] Specifically, the front camera and the surround camera communicate with the ADAS module through the existing CAN bus on the vehicle, and the ADAS module communicates with the actuator. After receiving the signal sent by the ADAS module, the actuator will brake. If the actuator is already in braking, it will continue to brake after receiving the signal. If no signal is received within a set time, the actuator will exit the braking, i.e. exit the AEB. Figure 1 Figure 2 The "camera sends signal to ADAS module, ADAS module sends signal to actuator to realize braking" in the above description is prior art, which will not be described here.

[0027] Currently, the front camera is used as the sensing module of the vehicle ADAS function, which can output the length, width and height data of the target object. The front camera always monitors all target objects in its field of view, but if the target object enters the blind area of the front camera, the front camera cannot monitor the target object.

[0028] The surround camera can observe the vehicle around. As shown in the drawings, Figure 1 When at a long distance, the front camera monitors and classifies the target object (monitoring and classification are realized by using existing algorithms, which will not be described here.), judges whether it is a low target object (if the height of the target object recognized by the front camera is lower than the set threshold, it is determined as a low target object) and whether it needs to trigger the automatic emergency braking (AEB) function (judges whether the target object is on the driving track of the vehicle and whether it has a collision risk with the vehicle (these functions are all existing functions on the vehicle, which will not be described here), and sends the judgment results to the surround camera. In this way, when the low target object enters the blind area of the front camera (the installation position of the camera is different, the range of the field of view is different, etc. will affect the blind area of the field of view, the blind area of the field of view means that the target object is on the driving track of the vehicle (the surround camera itself can judge whether the target object is on the driving track of the vehicle), but the front camera cannot observe the target object. The surround camera will monitor the target object, as shown in the drawings, so that the target object will not be lost, and the automatic emergency braking (AEB) function will not be exited, thereby completing the collision avoidance. Figure 2

[0029] ​​For non-low target, since the front camera can always observe the non-low target, there is no problem of entering the blind area of the field of view, resulting in target loss and exiting the automatic emergency braking (AEB) function. Figure 2 In the figure, the part of sending information from the front camera to the ADAS module and sending information from the ADAS module is omitted, and only the monitoring of the low target in the blind area of the front camera is shown.

[0030] The application also provides a low target collision avoidance method, which comprises: monitoring and classifying the target by the front camera at a long distance, and monitoring the low target by the surround camera when the low target enters the blind area of the field of view of the front camera.

[0031] Specifically, the method comprises:

[0032] (1) The front camera monitors and classifies the target to obtain the type of the target (such as low target, non-low target, etc.), and judges whether each type of target needs to trigger AEB (automatic emergency braking function), if there is a target that needs to trigger AEB, the front camera triggers AEB (i.e. sends an AEB request signal to the ADAS module, and then the ADAS module sends a brake signal to the actuator). These are all existing functions of the front camera, and will not be repeated here.

[0033] (2) The front camera sends the type of the target and the signal of whether it needs to trigger AEB to the surround camera, i.e. the front camera sends the type of each target and whether it needs to trigger AEB to the surround camera.

[0034] The front camera sends the type of all targets and the signal of whether it needs to trigger AEB to the surround camera, which can reduce the reaction time of the system, so as to achieve seamless connection of the AEB function.

[0035] (3) The surround camera selects the low target according to the type of the target received, and judges whether the low target is on the driving track of the vehicle (an existing function of the surround camera, which will not be repeated here.), if yes, the surround camera triggers AEB (i.e. sends an AEB request signal to the ADAS module, and then the ADAS module sends a brake signal to the actuator). At this time, the front camera always monitors all targets in its non-blind area, and if there is a target that needs to trigger AEB, the front camera triggers AEB.

[0036] When the target enters the blind area of the front camera, the front camera loses the target, and thus no longer sends the AEB request signal, and the AEB exits; in the present application, the surround-view camera classifies the target with the help of the front camera, so that when the low target enters the blind area of the front camera, the surround-view camera continues to send the AEB request signal, so that the automatic emergency braking (AEB) function does not exit or continues to trigger the automatic emergency braking (AEB) function until the vehicle stops to avoid a collision. At the same time, the front camera still monitors the target in the non-blind area.

[0037] In summary, the surround-view camera is involved in the ADAS function environment monitoring, the surround-view camera can receive the signal sent by the front camera, the surround-view camera can monitor the low target, and the low target entering the blind area of the front camera is avoided.

[0038] The above technical solution is only one embodiment of the present application, and for those skilled in the art, on the basis of the principles disclosed in the present application, various types of improvements or modifications can be easily made, and the technical solution described in the above specific embodiments is not limited to the present application, therefore the above description is only preferred, and is not limited in meaning.

Claims

1. A method for collision avoidance with low target objects, characterized by: The method is realized by a low target collision avoidance system, the low target collision avoidance system comprises a front camera, a surround camera, an ADAS module and an actuator; the front camera can communicate with the surround camera; the front camera and the surround camera can respectively communicate with the ADAS module; the monitoring area of the surround camera comprises a visual blind area of the front camera, the visual blind area of the front camera is an area outside the visual angle range within a preset distance in front of the front camera; the ADAS module can communicate with the actuator; All targets are monitored and classified by the front camera, and it is determined whether the low target needs to trigger AEB; when the low target enters the visual blind area of the front camera, the low target is monitored by the surround camera.

2. The low target collision avoidance method of claim 1, wherein: The method comprises: (1) the front camera monitors and classifies the target, obtains the target type, and determines whether each type of target needs to trigger AEB; (2) the front camera sends the target type and the signal of whether AEB needs to be triggered to the surround camera; (3) the surround camera selects the low target according to the received target type, and determines whether the low target is on the driving track of the vehicle, if yes, the surround camera triggers AEB.

3. The low target collision avoidance method of claim 2, wherein: The operation of step (1) further comprises: If there is a target that needs to trigger AEB, the front camera triggers AEB.

4. The low target collision avoidance method of claim 3, wherein: In step (3), the front camera always monitors all targets in the non-visual blind area, and if a target that needs to trigger AEB appears, the front camera triggers AEB.

5. The low target collision avoidance method of claim 4, wherein: The operations of the surround camera triggering AEB and the front camera triggering AEB both comprise: sending an AEB request signal to the ADAS module, and then the ADAS module sends a brake signal to the actuator.

6. The low target collision avoidance method of claim 1, wherein: The front camera communicates with the surround camera through a CAN bus.

7. The low target collision avoidance method of claim 1, wherein: The front camera and the surround camera both communicate with the ADAS module through a CAN bus.

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