Vehicle emergency obstacle avoidance control method and system

Abstract

The application discloses a vehicle emergency obstacle avoidance control method and system, the method comprises the following steps: judging whether there is an obstacle in front of the vehicle according to the vehicle surrounding environment information, or whether the speed of the rear vehicle of the ego vehicle exceeds a set threshold; if there is an obstacle in front of the vehicle, calculating a first pre-collision time of the ego vehicle and the obstacle according to the driving state data of the ego vehicle, the speed and distance of the front obstacle; judging whether the first pre-collision time is greater than a set threshold, if yes, it means that there is no collision risk, if no, it means that there is a collision risk; if the speed of the rear vehicle of the ego vehicle exceeds the set threshold, calculating a second pre-collision time of the ego vehicle and the rear vehicle according to the driving state data of the ego vehicle, the speed and distance of the rear vehicle, if the second pre-collision time is less than the set threshold, controlling the brake light to be lit to remind the rear vehicle to keep a safe distance and remind the driver of the ego vehicle of the rear-end risk.

Description

Technical Field

[0001] This invention relates to the field of automotive intelligent control technology, and in particular to a vehicle emergency obstacle avoidance control method and system. Background Technology

[0002] The statements in this section merely refer to the background art related to this invention and do not necessarily constitute prior art.

[0003] With the development of the automotive industry, cars have become a necessity in our lives, and automotive driver assistance technology is becoming increasingly mature. How to safely avoid collisions is of paramount importance for automobiles.

[0004] In emergency traffic situations, emergency collision avoidance systems based on vehicle radar and cameras can automatically assess the driving environment, avoid collisions, reduce the accident rate, and meet people's safety requirements for vehicles.

[0005] Currently, Automatic Emergency Braking (AEB) and Automatic Emergency Steering (AES) systems are widely used in automobiles: these are functions that various automakers have already implemented.

[0006] Automatic Emergency Braking (AEB) systems typically use onboard radar and cameras to detect the distance and status of obstacles in front of the vehicle, assessing the risk of collision. If a collision is detected, the system automatically brakes to avoid colliding with the obstacle.

[0007] The Automatic Emergency Steering (AES) system primarily uses onboard sensors to collect data on the vehicle's driving environment and driving status, and then automatically plans a reasonable steering and collision avoidance path.

[0008] Many complex functions can be implemented based on these two basic functions. AEB and AES are basically two functions that will be triggered simultaneously. Currently, mass production projects in the industry generally treat AEB and AES as two mutually exclusive functions and do not pay attention to the situation of rear-end collisions. Summary of the Invention

[0009] To address the shortcomings of existing technologies, this invention provides a vehicle emergency obstacle avoidance control method and system. This invention combines AEB and AES and pays attention to vehicles approaching from behind. After the vehicle is started, the safety collision avoidance system will begin to operate. The system will monitor vehicles and obstacles in front of, behind, to the left and right of the vehicle through vehicle radar and cameras, automatically determine whether there is a collision risk during driving, and control the vehicle to perform safe collision avoidance.

[0010] On the one hand, a vehicle emergency obstacle avoidance control method is provided, including:

[0011] Real-time collection of information about the vehicle's surrounding environment;

[0012] Based on the surrounding environment information of the vehicle, it is determined whether there is an obstacle in front of the vehicle, or whether the speed of the vehicle behind the vehicle exceeds a set threshold. If there is an obstacle in front of the vehicle, the first pre-collision time between the vehicle and the obstacle is calculated based on the vehicle's driving status data, the speed and distance of the obstacle in front. It is then determined whether the first pre-collision time is greater than the set threshold. If it is, it means there is no risk of collision; if not, it means there is a risk of collision.

[0013] If the speed of the vehicle behind the vehicle exceeds a set threshold, the second pre-collision time between the vehicle and the vehicle behind is calculated based on the vehicle's driving status data, the speed and distance of the vehicle behind. If the second pre-collision time is less than the set threshold, the brake lights are activated to remind the vehicle behind to maintain a safe distance and to warn the driver of the vehicle that there is a risk of rear-end collision.

[0014] On the other hand, a vehicle emergency obstacle avoidance control system is provided, including: a vehicle controller; the vehicle controller is configured to:

[0015] Real-time collection of information about the vehicle's surrounding environment;

[0016] Based on information about the vehicle's surrounding environment, determine whether there are obstacles in front of the vehicle, or whether the speed of vehicles behind the vehicle exceeds a set threshold.

[0017] If there is an obstacle in front of the vehicle, the first pre-collision time between the vehicle and the obstacle is calculated based on the vehicle's driving status data, the speed and distance of the obstacle. It is then determined whether the first pre-collision time is greater than a set threshold. If it is, it means there is no risk of collision; if not, it means there is a risk of collision.

[0018] If the speed of the vehicle behind the vehicle exceeds a set threshold, the second pre-collision time between the vehicle and the vehicle behind is calculated based on the vehicle's driving status data, the speed and distance of the vehicle behind. If the second pre-collision time is less than the set threshold, the brake lights are activated to remind the vehicle behind to maintain a safe distance and to warn the driver of the vehicle that there is a risk of rear-end collision.

[0019] One of the above technical solutions has the following advantages or beneficial effects:

[0020] This invention can assist the driver in safely, quickly, and accurately avoiding obstacles when the vehicle encounters obstacles in front or fast-moving vehicles behind. Attached Figure Description

[0021] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0022] Figure 1 This is a flowchart of the method in Example 1. Detailed Implementation

[0023] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0024] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0025] Example 1

[0026] This embodiment provides a vehicle emergency obstacle avoidance control method;

[0027] like Figure 1 As shown, a vehicle emergency obstacle avoidance control method includes:

[0028] S101: Real-time collection of information about the vehicle's surrounding environment;

[0029] S102: Based on the surrounding environment information of the vehicle, determine whether there is an obstacle in front of the vehicle, or whether the speed of the vehicle behind the vehicle exceeds a set threshold. If there is an obstacle in front of the vehicle, proceed to S103; if the speed of the vehicle behind the vehicle exceeds the set threshold, proceed to S104.

[0030] S103: Based on the vehicle's driving status data, the speed and distance of the obstacle ahead, calculate the first pre-collision time between the vehicle and the obstacle; determine whether the first pre-collision time is greater than a set threshold. If it is, it means there is no collision risk; if it is not, it means there is a collision risk.

[0031] S104: Based on the driving status data of the vehicle itself and the speed and distance of the vehicle behind, calculate the second pre-collision time between the vehicle itself and the vehicle behind, determine whether the second pre-collision time is greater than a set threshold, and if the second pre-collision time is less than the set threshold, control the brake lights to illuminate to remind the vehicle behind to maintain a safe distance, and at the same time remind the driver of the vehicle itself of the risk of rear-end collision.

[0032] Furthermore, S101: Real-time collection of information about the vehicle's surrounding environment, including:

[0033] The forward-facing radar installed at the front of the car collects traffic environment and lane information in front of the vehicle.

[0034] The rear-facing radar installed at the rear of the vehicle collects traffic environment and lane information behind the vehicle.

[0035] Traffic environment information for the lanes on both sides of the car is collected by four corner radars installed at the four corners of the car.

[0036] A camera installed in front of the car captures images of the area in front of the vehicle.

[0037] Furthermore, the calculation of the first pre-collision time between the vehicle and the obstacle based on the vehicle's driving status data, the speed and distance of the obstacle ahead, specifically includes:

[0038] The longitudinal distance and relative longitudinal speed between the vehicle and obstacles are obtained; both the longitudinal distance and relative longitudinal speed between the vehicle and obstacles are obtained through the vehicle's radar.

[0039] The quotient of longitudinal distance and relative longitudinal velocity is calculated and used as the first pre-collision time between the vehicle and the obstacle; where relative longitudinal velocity refers to the relative longitudinal velocity between the vehicle and the obstacle.

[0040] Furthermore, S103 further includes:

[0041] If there is a collision risk, the vehicle's deceleration is obtained; it is then determined whether the vehicle's braking deceleration exceeds a set threshold.

[0042] If the vehicle's braking deceleration exceeds a set threshold, then determine whether there are oncoming vehicles to the left and right rear of the vehicle:

[0043] (1) If there are vehicles approaching from both the left rear and right rear, it means that the lane change conditions are not met. Control the vehicle to decelerate in the current lane according to the braking deceleration.

[0044] (2) If there is a vehicle approaching from either the left rear or the right rear, and no vehicle approaching from the other side, then the lane change conditions are met. Control your vehicle to change lanes to the side where there is no vehicle approaching, and decelerate according to the braking deceleration.

[0045] (3) If there are no vehicles approaching from the left rear and right rear, control the vehicle to change lanes to the left lane first. If the radar in front of the left detects a collision risk, change lanes to the right lane and decelerate according to the braking deceleration.

[0046] Furthermore, S103 further includes:

[0047] If the vehicle's braking deceleration is less than or equal to a set threshold, it will determine whether there is a vehicle approaching from behind in the current lane. If there is a vehicle approaching, it will further determine whether there is a risk of collision.

[0048] If there is a risk of collision, and there are vehicles approaching from the left rear and right rear or the conditions for changing lanes are not met, the rear collision warning will be activated to remind the driver that there is a risk of collision between the vehicle and the vehicle behind, and prompt the driver to manually change lanes or merge into another lane.

[0049] If there is a risk of collision and there are no vehicles approaching from the left or right rear, use emergency steering to control your vehicle to move into the adjacent lane where there are no vehicles approaching.

[0050] If there is a risk of collision and there are no vehicles approaching from the left rear and right rear, control your vehicle to change lanes to the left lane first. If the radar on the left front detects a risk of collision, then change lanes to the right lane.

[0051] Furthermore, the deceleration of the vehicle is obtained through the vehicle's speed sensor.

[0052] Further, S104: Based on the driving status data of the self-vehicle and the speed and distance of the following vehicles, calculate the second pre-collision time between the self-vehicle and the following vehicles, specifically including:

[0053] Assuming the relative longitudinal speed between the target and the vehicle remains constant, the second pre-collision time is obtained by dividing the longitudinal distance between the target and the vehicle transmitted by the radar by the relative longitudinal speed between the two vehicles.

[0054] Furthermore, S104 also includes: continuously monitoring the distance between the vehicle and the vehicles behind it;

[0055] If the following vehicle continues to approach the vehicle, the second pre-collision time is less than the set threshold, and there are vehicles approaching from the left and right rear or the lane change conditions are not met, then the rear collision warning will be activated to remind the driver that there is a risk of collision between the vehicle and the following vehicle, and prompt the driver to manually change lanes or merge.

[0056] Furthermore, S104 also includes: continuously monitoring the distance between the vehicle and the vehicles behind it;

[0057] If the following vehicle continues to approach the vehicle, the second pre-collision time is less than the set threshold, and there are no vehicles approaching from the left or right rear, then use emergency steering to control the vehicle to enter the adjacent lane where there are no vehicles approaching.

[0058] If a vehicle behind continues to approach the vehicle, the second pre-collision time is less than the set threshold, and there are no vehicles approaching from the left rear and right rear, the vehicle will be controlled to change lanes to the left lane first. If the radar in the left front detects a collision risk, the vehicle will change lanes to the right lane.

[0059] When the sensor detects an obstacle in front of the vehicle's current lane, it calculates the pre-collision time between the vehicle and the obstacle based on the vehicle's status and the speed and distance of the obstacle, compares it with a safe value, and calculates whether the vehicle's braking deceleration is too large, in order to decide whether to brake or steer urgently. When the sensor detects a vehicle rapidly approaching from behind, posing a risk of rear-end collision, it illuminates the brake lights and reminds the following vehicle to maintain a safe distance. If the following vehicle continues to approach rapidly, and the estimated collision time is less than a certain safety threshold, it automatically steers and changes lanes.

[0060] Example 2

[0061] This embodiment provides a vehicle emergency obstacle avoidance control system;

[0062] A vehicle emergency obstacle avoidance control system includes: a vehicle controller; the vehicle controller is configured to:

[0063] Real-time collection of information about the vehicle's surrounding environment;

[0064] Based on information about the vehicle's surrounding environment, determine whether there are obstacles in front of the vehicle, or whether the speed of vehicles behind the vehicle exceeds a set threshold.

[0065] If there is an obstacle in front of the vehicle, the first pre-collision time between the vehicle and the obstacle is calculated based on the vehicle's driving status data, the speed and distance of the obstacle. It is then determined whether the first pre-collision time is greater than a set threshold. If it is, it means there is no risk of collision; if not, it means there is a risk of collision.

[0066] If the speed of the vehicle behind the vehicle exceeds a set threshold, the second pre-collision time between the vehicle and the vehicle behind is calculated based on the vehicle's driving status data, the speed and distance of the vehicle behind. If the second pre-collision time is less than the set threshold, the brake lights are activated to remind the vehicle behind to maintain a safe distance and to warn the driver of the vehicle that there is a risk of rear-end collision.

[0067] The system also includes: a surrounding environment information acquisition device connected to the vehicle controller. The surrounding environment information acquisition device monitors the vehicles, pedestrians and road conditions around the vehicle in real time and transmits the information to the vehicle controller. The vehicle controller processes the surrounding environment information transmitted back by the microwave radar and camera, as well as the vehicle operating status transmitted back by other vehicle sensors, and analyzes the current driving environment. It then issues commands to control the vehicle via the CAN bus.

[0068] The information output is delivered in two ways: firstly, through sound and HMI instruments to alert the driver to pay attention to the potential for a dangerous collision; secondly, by sending commands to the vehicle's ESP / ESC, EPS, and TCU to control the vehicle's braking or emergency steering.

[0069] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A vehicle emergency obstacle avoidance control method, characterized in that, include: Real-time collection of information about the vehicle's surrounding environment; Based on information about the vehicle's surrounding environment, determine whether there are obstacles in front of the vehicle, or whether the speed of vehicles behind the vehicle exceeds a set threshold. If there is an obstacle in front of the vehicle, the first pre-collision time between the vehicle and the obstacle is calculated based on the vehicle's driving status data, the speed and distance of the obstacle. Determine whether the first pre-collision time is greater than a set threshold. If it is, it means there is no collision risk; if it is not, it means there is a collision risk. If there is a collision risk, the vehicle's deceleration is obtained; it is then determined whether the vehicle's braking deceleration exceeds a set threshold. If the vehicle's braking deceleration is less than or equal to a set threshold, it will determine whether there is a vehicle approaching from behind in the current lane. If there is a vehicle approaching, it will further determine whether there is a risk of collision. If there is a risk of collision, and there are vehicles approaching from the left rear and right rear or the conditions for changing lanes are not met, the rear collision warning will be activated to remind the driver that there is a risk of collision between the vehicle and the vehicle behind, and prompt the driver to manually change lanes or merge into another lane. If there is a risk of collision and there are no vehicles approaching from the left or right rear, use emergency steering to control your vehicle to move into the adjacent lane where there are no vehicles approaching. If there is a risk of collision and there are no vehicles approaching from the left rear and right rear, control your vehicle to change lanes to the left lane first. If the radar on the left front detects a risk of collision, then change lanes to the right lane. If the speed of the vehicle behind the vehicle exceeds a set threshold, the second pre-collision time between the vehicle and the vehicle behind is calculated based on the vehicle's driving status data, the speed and distance of the vehicle behind. If the second pre-collision time is less than the set threshold, the brake lights are activated to remind the vehicle behind to maintain a safe distance and to warn the driver of the vehicle that there is a risk of rear-end collision.

2. The vehicle emergency obstacle avoidance control method as described in claim 1, characterized in that, Real-time collection of information about the vehicle's surrounding environment, including: The forward-facing radar installed at the front of the car collects traffic environment and lane information in front of the vehicle. The rear-facing radar installed at the rear of the vehicle collects traffic environment and lane information behind the vehicle. Traffic environment information for the lanes on both sides of the car is collected by four corner radars installed at the four corners of the car. A camera installed in front of the car captures images of the area in front of the vehicle.

3. The vehicle emergency obstacle avoidance control method as described in claim 1, characterized in that, The calculation of the first pre-collision time between the vehicle and the obstacle based on the vehicle's driving status data, the speed and distance of the obstacle ahead, specifically includes: The longitudinal distance and relative longitudinal speed between the vehicle and obstacles are obtained; the longitudinal distance and relative longitudinal speed between the vehicle and obstacles are obtained through the vehicle's radar. The quotient of longitudinal distance and relative longitudinal velocity is calculated and used as the first pre-collision time between the vehicle and the obstacle; where relative longitudinal velocity refers to the relative longitudinal velocity between the vehicle and the obstacle.

4. The vehicle emergency obstacle avoidance control method as described in claim 1, characterized in that, If the vehicle's braking deceleration exceeds a set threshold, then determine whether there are oncoming vehicles to the left and right rear of the vehicle: (1) If there are vehicles approaching from both the left rear and right rear, it means that the lane change conditions are not met. Control the vehicle to decelerate in the current lane according to the braking deceleration. (2) If there is a vehicle coming from either the left rear or the right rear, and no vehicle coming from the other side, then the lane change conditions are met. Control the vehicle to change lanes to the side where there is no vehicle coming, and decelerate according to the braking deceleration. (3) If there are no vehicles coming from the left rear and right rear, control the vehicle to change lanes to the left lane first. If the radar in front of the left detects a collision risk, change lanes to the right lane and decelerate according to the braking deceleration.

5. The vehicle emergency obstacle avoidance control method as described in claim 1, characterized in that, Based on the vehicle's driving status data, the speed and distance of the vehicles behind, the second pre-collision time between the vehicle and the vehicles behind is calculated, specifically including: Assuming the relative longitudinal speed between the target and the vehicle remains constant, the second pre-collision time is obtained by dividing the longitudinal distance between the target and the vehicle transmitted by the radar by the relative longitudinal speed between the two vehicles.

6. The vehicle emergency obstacle avoidance control method as described in claim 1, characterized in that, it further includes... include: Continuously monitor the distance between your vehicle and the vehicles behind you; If the following vehicle continues to approach the vehicle, the second pre-collision time is less than the set threshold, and there are vehicles approaching from the left and right rear or the lane change conditions are not met, then the rear collision warning will be activated to remind the driver that there is a risk of collision between the vehicle and the following vehicle, and prompt the driver to manually change lanes or merge.

7. The vehicle emergency obstacle avoidance control method as described in claim 1, characterized in that, it further includes... include: Continuously monitor the distance between your vehicle and the vehicles behind you; If the following vehicle continues to approach the vehicle, the second pre-collision time is less than the set threshold, and there are no vehicles approaching from the left or right rear, then use emergency steering to control the vehicle to enter the adjacent lane where there are no vehicles approaching. If a vehicle behind continues to approach the vehicle, the second pre-collision time is less than the set threshold, and there are no vehicles approaching from the left rear and right rear, the vehicle will be controlled to change lanes to the left lane first. If the radar in the left front detects a collision risk, the vehicle will change lanes to the right lane.

8. A vehicle emergency obstacle avoidance control system, employing a vehicle emergency obstacle avoidance control method as described in any one of claims 1-7, characterized in that, include: Vehicle controller; The vehicle controller is configured as follows: Real-time collection of information about the vehicle's surrounding environment; Based on information about the vehicle's surrounding environment, determine whether there are obstacles in front of the vehicle, or whether the speed of vehicles behind the vehicle exceeds a set threshold. If there is an obstacle in front of the vehicle, the first pre-collision time between the vehicle and the obstacle is calculated based on the vehicle's driving status data, the speed and distance of the obstacle. Determine whether the first pre-collision time is greater than a set threshold. If it is, it means there is no collision risk; if it is not, it means there is a collision risk. If the speed of the vehicle behind the vehicle exceeds a set threshold, the second pre-collision time between the vehicle and the vehicle behind is calculated based on the vehicle's driving status data, the speed and distance of the vehicle behind. If the second pre-collision time is less than the set threshold, the brake lights are activated to remind the vehicle behind to maintain a safe distance and to warn the driver of the vehicle that there is a risk of rear-end collision.

9. A vehicle emergency obstacle avoidance control system as described in claim 8, characterized in that, The system also includes: a surrounding environment information acquisition device connected to the vehicle controller. The surrounding environment information acquisition device monitors the vehicles, pedestrians and road conditions around the vehicle in real time and transmits the information to the vehicle controller. The vehicle controller processes the surrounding environment information transmitted back by the microwave radar and camera, as well as the vehicle operating status transmitted back by other vehicle sensors, and analyzes the current driving environment. It then issues commands to control the vehicle via the CAN bus.

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