Blind area compensation-based collision avoidance control method, system, vehicle and medium

Abstract

The application discloses a kind of based on blind area compensation anti-collision control method, system, vehicle and medium, the method includes: obtaining the driving data of vehicle, the driving data includes the first signal sent by first communication channel and the second signal sent by second communication channel;According to the first signal and the second signal, it is judged whether target anti-collision vehicle enters the compensation blind area of the vehicle;When it is judged that the target anti-collision vehicle enters the compensation blind area of the vehicle, according to the preset compensation strategy, blind area anti-collision compensation operation is carried out.The present application effectively avoids the adverse situation caused by the short collision time of the target anti-collision vehicle entering the compensation blind area without increasing other anti-collision costs, improves the comfort of passengers in the vehicle, reduces the safety hazard and improves the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle anti-collision technology, and in particular to an anti-collision control method and system based on blind area compensation, a vehicle and a medium. BACKGROUND

[0002] At present, with the rapid economic development and the improvement of people's living standards, the number of cars continues to grow, and the rate of collision accidents also remains high, which seriously affects economic development and social stability.

[0003] In the prior art, there are some anti-collision systems designed to reduce the occurrence of collision accidents, but the anti-collision systems in the prior art usually detect the target anti-collision vehicle to be collided by an environmental perception module. When the target anti-collision vehicle is monitored by the environmental perception module, due to the influence of the physical characteristics and installation method of the environmental perception module, there will be a certain monitoring blind area. If this monitoring blind area is ignored, the time to collision (TTC) will be temporarily ineffective and cannot be determined, so that the vehicle cannot determine the vehicle to be collided, and thus cannot normally control the vehicle speed according to the time to collision. SUMMARY

[0004] The embodiments of the present application provide an anti-collision control method and system based on blind area compensation, a vehicle and a medium to solve the problem of ignoring the monitoring blind area of the anti-collision system in the prior art.

[0005] An anti-collision control method based on blind area compensation, comprising:

[0006] obtaining driving data of a vehicle, the driving data comprising a first signal sent through a first communication channel and a second signal sent through a second communication channel;

[0007] determining whether a target anti-collision vehicle enters a compensation blind area of the vehicle according to the first signal and the second signal;

[0008] when it is determined that the target anti-collision vehicle enters the compensation blind area of the vehicle, performing a blind area anti-collision compensation operation according to a preset compensation strategy.

[0009] An anti-collision control system based on blind area compensation, comprising:

[0010] an obtaining module configured to obtain driving data of a vehicle, the driving data comprising a first signal sent through a first communication channel and a second signal sent through a second communication channel;

[0011] a determining module configured to determine whether a target anti-collision vehicle enters a compensation blind area of the vehicle according to the first signal and the second signal;

[0012] The execution module is configured to execute a blind area collision avoidance compensation operation according to a preset compensation strategy when it is determined that the target collision avoidance vehicle enters the compensation blind area of the vehicle.

[0013] A vehicle comprises a controller configured to execute the blind area compensation-based collision avoidance control method.

[0014] A computer readable storage medium stores a computer program, and the computer program is configured to execute the blind area compensation-based collision avoidance control method when executed by a processor.

[0015] The blind area compensation-based collision avoidance control method, system, vehicle and medium, the blind area compensation-based collision avoidance control method comprises the following steps: obtaining driving data of a vehicle, the driving data comprising a first signal transmitted through a first communication channel and a second signal transmitted through a second communication channel; determining whether a target collision avoidance vehicle enters a compensation blind area of the vehicle according to the first signal and the second signal; and executing a blind area collision avoidance compensation operation according to a preset compensation strategy when it is determined that the target collision avoidance vehicle enters the compensation blind area of the vehicle. The blind area collision avoidance compensation operation is performed on the compensation blind area, and the collision time is not affected when the target collision avoidance vehicle enters the compensation blind area, thereby avoiding the adverse situation of short collision time, improving the comfort of passengers, reducing the safety hazard, and improving the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 is a flowchart of the blind area compensation-based collision avoidance control method in an embodiment of the present application;

[0018] Figure 2 is a schematic diagram of the compensation blind area in an embodiment of the present application;

[0019] Figure 3 is a structural schematic diagram of the vehicle in an embodiment of the present application;

[0020] Figure 4 is a schematic diagram of the preset compensation curve in an embodiment of the present application;

[0021] Figure 5 is a schematic diagram of the controller in an embodiment of the present application.

[0022] The reference signs in the description are as follows:

[0023] 1, controller; 11, collision mitigation unit; 12, vehicle CAN; 13, electronic brake control unit; 2, preset sensing module; 21, shooting module; 22, radar module; 3, preset prompting device; 31, prompting lamp; 32, preset display screen; 33, preset sound device; 4, control system; 41, vehicle braking system; 100, vehicle; 200, target anti-collision vehicle; 300, compensation blind area; 400, image shooting area; 500, radar detection area. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0025] In an embodiment, as shown in Figures 1 to 3 A blind area compensation-based anti-collision control method is provided, comprising the following steps:

[0026] S10: Obtain the driving data of the vehicle 100, which includes the first signal sent through the first communication channel and the second signal sent through the second communication channel; wherein the driving data of the vehicle 100 includes the first signal and the second signal, and other various driving parameters of the vehicle 100 in the driving process, such as speed, acceleration, etc. The surrounding obstacle information of the vehicle 100 can be determined according to the first signal and the second signal, and then the target anti-collision vehicle 200 and the collision time thereof that may exist are identified. In an embodiment, as shown in Figure 3As shown, the vehicle 100 of the present application comprises a preset perception module 2 and a controller 1, and the preset perception module 2 comprises a shooting module 21 (consisting of a digital camera or the like) and a radar module 22 (consisting of a sound wave radar or the like) which are both in communication connection with the controller 1. The first signal is an image signal shot in real time by the shooting module 21 installed on the vehicle 100; the second signal is a radar signal detected in real time by the radar module 22 installed on the vehicle 100; further, in the step S10, the driving data of the vehicle 100 is acquired, including: acquiring the first signal sent by the shooting module 21 through the first communication channel and the second signal sent by the radar module 22 through the second communication channel. Specifically, the shooting module 21 and the radar module 22 both send the acquired first signal and second signal to the collision mitigation unit 11 of the controller 1, and the collision mitigation unit 11 can acquire the driving speed of the vehicle 100 through the whole vehicle CAN 12 (Controller Area Network) network.

[0027] Further, the shooting module 21 can include but is not limited to a front shooting module 21 (such as a front camera, used for collecting image information in front of the vehicle 100) arranged in front of the vehicle 100 (near the vehicle head) and a rear shooting module 21 (such as a rear camera, used for collecting image information behind the vehicle 100) arranged behind the vehicle 100 (near the vehicle tail); the radar module 22 includes but is not limited to a front sound wave radar (used for collecting sound wave information in front of the vehicle 100, such as the sound wave returned after encountering an obstacle) arranged in front of the vehicle 100 (near the vehicle head) and a rear sound wave radar (used for collecting sound wave information behind the vehicle 100, such as the sound wave returned after encountering an obstacle) arranged behind the vehicle 100 (near the vehicle tail); the shooting module 21 and the radar module 22 are respectively used for acquiring the first signal (i.e. the image signal shot in real time by the shooting module 21) and the second signal (i.e. the radar signal detected in real time by the radar module 22).

[0028] S20: judging whether the target anti-collision vehicle 200 enters the compensation blind area 300 of the vehicle 100 according to the first signal and the second signal.

[0029] In the present application, as shown, Figure 2 When the vehicle 100 drives forward, the shooting module 21 is responsible for detecting the far front distance first, the perception area of the shooting module 21, i.e. the image shooting area 400, corresponds to the sector area (about 40° sector) between L2 and L3 as shown in Figure 2 , while the perception area of the radar module 22, i.e. the radar detection area 500, corresponds to the sector area (about 40° sector) between L1 and L2 as shown in Figure 2The elongated area between L1 and vehicle 100 shown (the radar's sensing area has a large angle, close to 180°, therefore) Figure 2 The radar detection area 500 corresponding to the medium length B is approximately elongated.

[0030] Furthermore, the detection range of the first signal (e.g.) Figure 2 The detection range of the image capturing area 400 shown is greater than the detection range of the second signal (e.g., the detection range of the second signal). Figure 2 (The detection range of the radar detection area 500 shown in the figure) Thus, in this embodiment, the imaging module 21 is mainly responsible for sensing the farther area, while the radar module 22 is mainly responsible for detecting the sensing area at a closer distance. Therefore, the preset sensing module 2 of the present invention can first determine the target collision avoidance vehicle 200 through the first signal, and then hand it over to the radar module 22 to take over the detection of information such as the distance between the vehicle 100 and the target collision avoidance vehicle 200.

[0031] In one embodiment, step S20, namely determining whether the target collision avoidance vehicle 200 has entered the compensation blind zone 300 of the vehicle 100 based on the first signal and the second signal, includes:

[0032] The target collision avoidance vehicle 200 is determined based on the first signal, and a collision avoidance operation is performed on the target collision avoidance vehicle 200. In this invention, the specific method for determining the target collision avoidance vehicle 200 based on the first signal is as follows: the outline features of the object in each frame (i.e., the first signal) captured by the shooting module 21 are compared with the appearance model of the vehicle 100 pre-stored in the database to identify the effective vehicle 100. The effective vehicle 100 is locked, and the collision time between the current vehicle 100 and the effective vehicle 100 is calculated (the collision time can be determined based on the first signal or the second signal). The target collision avoidance vehicle 200 is then determined from the effective vehicles 100 based on the collision time. For example, the effective vehicle 100 with the shortest collision time can be determined as the target collision avoidance vehicle 200. In some embodiments, it is necessary to combine the relative speed and the collision time to determine its danger, and then determine the target collision avoidance vehicle 200 with the highest danger from the effective vehicles 100 (the higher the relative speed and the shorter the collision time of the effective vehicle 100, the higher the danger).

[0033] In this embodiment, the imaging module 21 and radar module 22 in the preset sensing module 2 first collect the first signal and the second signal within the monitoring area around the vehicle 100. Then, through... Figure 3The collision mitigation unit 11 shown in the figure processes the first signal and the second signal transmitted by the preset perception module 2, determines the target anti-collision vehicle 200 that needs to be prevented from collision and the collision time and other key parameters, and then determines the relative speed between the vehicle 100 and the target anti-collision vehicle 200 according to the driving speed of the vehicle 100 itself obtained by the collision mitigation unit 11 and the first signal and the second signal, and further takes different levels of anti-collision operations according to the collision time and the relative speed. That is, as shown in the figure, Figure 3 After further analyzing the deceleration (the absolute value of which does not exceed 2.5 m / s2) for anti-collision operation according to the collision time and the relative speed, the above-mentioned deceleration is transmitted to the electronic brake control unit 13 through the vehicle CAN 12 network, and then the electronic brake control unit 13 controls the vehicle brake system 41 of the control system 4 to execute the deceleration instruction according to the deceleration, that is, the vehicle brake system 41 controls the vehicle 100 to decelerate according to the deceleration sent by the above-mentioned vehicle CAN 12 network.

[0034] In an embodiment, the deceleration of the above-mentioned anti-collision operation can be determined according to the relative speed, for example, when the relative speed is less than or equal to 20 km / h, the deceleration is -1 m / s2; when the relative speed is less than or equal to 30 km / h and greater than 20 km / h, the deceleration is -1.5 m / s2; when the relative speed is less than or equal to 40 km / h and greater than 30 km / h, the deceleration is -2 m / s2; when the relative speed is less than or equal to 50 km / h and greater than 40 km / h, the deceleration is -2.5 m / s.

[0035] Understandably, the collision mitigation unit 11 in the controller 1 can also analyze the above-mentioned first signal and the second signal to determine that the collision threat comes from the front or rear of the vehicle 100, and then determine the target anti-collision vehicle 200 and its collision time; Understandably, the collision time (TTC) is used to represent how long the collision between the vehicle 100 and the target anti-collision vehicle 200 will occur. The generation of the collision time is the relative distance between the vehicle 100 and the target anti-collision vehicle 200 divided by the above-mentioned relative speed. The relative distance and the relative speed can be calculated according to the first signal and the second signal transmitted back by the shooting module 21 and the radar module 22.

[0036] When the first signal represents a loss of the detection signal of the target anti-collision vehicle 200, and the second signal does not detect the target anti-collision vehicle 200, it is determined that the target anti-collision vehicle 200 enters the compensation blind area 300 of the vehicle 100. That is, in the process of the target anti-collision vehicle 200 approaching the vehicle 100, after the shooting module 21 determines the target anti-collision vehicle 200, if the target anti-collision vehicle 200 and the vehicle 100 continue to approach each other, if the first signal represents a loss of the detection signal of the target anti-collision vehicle, it can be determined that the first communication channel is disconnected, at this time, it indicates that the shooting module 21 fails to monitor the target anti-collision vehicle 200, and at this time, if the target anti-collision vehicle 200 has not entered the radar detection area 500 of the radar module 22 as shown in Figure 2 , it indicates that the second signal also does not detect the target anti-collision vehicle, at this time, it can be determined that the first communication channel and the second communication channel are disconnected, therefore, the target anti-collision vehicle 200 will be in the compensation blind area 300 of the vehicle 100, and the shooting module 21 and the radar module 22 cannot monitor it, at this time, the vehicle 100 cannot normally obtain the collision time and control the speed of the vehicle 100, and there is a safety hazard. That is, the compensation blind area 300 is the area not covered by the radar detection area 500 and the image shooting area 400 as shown in Figure 2 .

[0037] As can be understood, Figure 2 , the target anti-collision vehicle 200 is in front of the vehicle 100, when the target anti-collision vehicle 200 is behind the vehicle 100, similar control can also be performed according to the anti-collision control method based on blind area compensation of the present application, such as converting the deceleration obtained in the anti-collision operation into acceleration, etc.

[0038] S30: When it is determined that the target anti-collision vehicle 200 enters the compensation blind area 300 of the vehicle 100, a blind area anti-collision compensation operation is performed according to a preset compensation strategy. In the process of the target anti-collision vehicle 200 approaching the vehicle 100, after the shooting module 21 determines the target anti-collision vehicle 200, if the target anti-collision vehicle 200 and the vehicle 100 continue to approach each other, after the first communication channel is disconnected, the shooting module 21 fails to monitor the target anti-collision vehicle 200, as shown in Figure 2As shown in the figure, if the target collision avoidance vehicle 200 has not entered the radar detection area 500 of the radar module 22, at this time, both the first communication channel and the second communication channel are disconnected, so the target collision avoidance vehicle 200 will be in the compensation blind area 300 of the vehicle 100, and neither the shooting module 21 nor the radar module 22 can monitor it. Therefore, at this time, a blind area collision avoidance compensation operation needs to be performed according to the preset compensation strategy (the preset compensation strategy is set according to the needs, such as the blind area collision avoidance compensation operation according to the preset compensation curve in the compensation time mentioned later) to adjust the deceleration of the above-mentioned collision avoidance operation. That is, when the first signal and the second signal double fail, the controller 1 cannot calculate the relative speed and the collision time, so it cannot perform the corresponding collision avoidance operation, but the collision avoidance operation is being performed, so as to avoid the safety hazard caused by sudden signal loss during the collision avoidance operation. Therefore, the present application adaptively adjusts the current deceleration during the collision avoidance operation by performing the blind area collision avoidance compensation operation, so as to effectively avoid the adverse situation of the collision time being temporarily invalid due to the target collision avoidance vehicle 200 entering the compensation blind area 300, improve the comfort of passengers in the vehicle, and reduce the safety hazard.

[0039] In the above-mentioned embodiment of the present application, by performing the blind area collision avoidance compensation operation on the compensation blind area 300, without increasing other collision avoidance costs, the adverse situation of the collision time being temporarily invalid due to the target collision avoidance vehicle 200 entering the compensation blind area 300 is effectively avoided, the comfort of passengers in the vehicle is improved, the safety hazard is reduced, and the user experience is improved. The above-mentioned blind area compensation-based collision avoidance control method of the present application can be applied to different types of vehicles such as buses, highway buses, trucks, special vehicles, and special vehicles. At the same time, the present application can also perform the blind area collision avoidance compensation operation on the target collision avoidance vehicle 200 located behind the vehicle 100, which adaptively adjusts the current acceleration during the collision avoidance operation to cope with the collision threat from behind the vehicle 100. Understandably, as shown in the figure, the electronic brake control unit 13 is instructed through the vehicle CAN 12 network to control the vehicle brake system 41 of the control system 4 to perform the deceleration-based collision avoidance operation or the blind area collision avoidance compensation operation; when the target collision avoidance vehicle 200 is located behind the vehicle 100, the driving motor control unit (not shown in the figure) in the controller 1 can also be instructed through the vehicle CAN 12 network to control the driving motor (not shown in the figure, which can be a driving motor in the power system of the vehicle 100) of the control system 4 to accelerate to perform the acceleration-based collision avoidance operation or the blind area collision avoidance compensation operation, thereby coping with different needs of the speed change. Figure 3

[0040] ​In an embodiment, the step S30 of performing the blind area collision avoidance compensation operation according to the preset compensation strategy comprises:

[0041] S301, determining an entering time point at which the target collision avoidance vehicle 200 enters the compensation blind area 300 of the vehicle 100, and obtaining an initial deceleration of the vehicle 100 at the entering time point; wherein the entering time point refers to the time at which the target collision avoidance vehicle 200 enters the compensation blind area 300 of the vehicle 100, i.e. the time at which the first signal and the second signal are lost simultaneously. As shown in Figure 2 The calculation process of the above entering time point is as follows: first, the first blind area length A outside the image shooting area 400 coverage of the shooting module 21 can be calculated at the design stage of the vehicle 100 according to the first signal of the shooting module 21 and its installation height, etc., then the difference between the distance C between the front of the vehicle 100 and the rear of the target collision avoidance vehicle 200 and the above first blind area length A is divided by the relative speed V between the vehicle 100 and the target, and the result is the entering time point.

[0042] S302, obtaining a preset compensation curve, and performing the blind area collision avoidance compensation operation according to the preset compensation curve within a compensation time to control the initial deceleration of the vehicle 100 to weaken; the compensation time refers to the time period between the entering time point and a leaving time point at which the target collision avoidance vehicle 200 leaves the compensation blind area 300. The preset compensation curve can be set according to requirements, but the absolute value of the compensation deceleration in the preset compensation curve must be less than the absolute value of the initial deceleration, and the compensation deceleration in the preset compensation curve gradually weakens as the compensation time increases.

[0043] In an embodiment, as shown in Figure 4 The preset compensation curve comprises at least two compensation segments arranged in sequence and continuously according to the compensation time; each of the compensation segments corresponds to a compensation deceleration; the absolute values of the compensation decelerations corresponding to the compensation segments decrease in sequence according to the compensation time; and the absolute values of all the compensation decelerations are less than or equal to the absolute value of the initial deceleration; for example, Figure 4 The t0-t01 stage, the t01-t02 stage and the stage after t02 shown in Figure 4In the embodiment shown in the figure, t0-t01 corresponds to the initial deceleration a0, t01-t02 corresponds to 0.8a0 (0.8 times the initial deceleration a0), and t02 corresponds to 0.6a0 (0.6 times the initial deceleration a0). The absolute values of the compensation decelerations corresponding to the compensation periods decrease in order of the compensation time, and the absolute values of all the compensation decelerations are less than or equal to the absolute value of the initial deceleration.

[0044] Further, in the step S302, the blind area collision avoidance compensation operation is performed according to the preset compensation curve within the compensation time, including: sequentially controlling the vehicle 100 to travel at the compensation deceleration corresponding to each compensation period in the preset compensation curve in order of the compensation time, until the target collision avoidance vehicle 200 reaches the disengagement time point of the compensation blind area 300, and the blind area collision avoidance compensation operation is stopped. In this embodiment, the compensation time corresponding to each compensation period can be equal or unequal, and in the embodiment shown in the figure, the compensation time corresponding to each compensation period is equal. Figure 4 In the embodiment shown in the figure, t1 is the disengagement time point of the target collision avoidance vehicle 200 from the compensation blind area 300. Figure 4 In the embodiment shown in the figure, if the vehicle 100 travels according to the preset compensation curve, the initial deceleration a0 corresponding to the entry time point t0 will be reduced to 0.6a0 in two stages with a time interval of 0.3s, and then the vehicle 100 will be controlled to travel at a deceleration of 0.6a0, until the disengagement time point t1, and the blind area collision avoidance compensation operation is stopped.

[0045] It can be understood that the compensation time corresponding to each compensation period can be set to be equal or unequal according to requirements, but the compensation time must be determined according to the mechanical characteristics of the whole vehicle braking system 41. As a preferred embodiment, the compensation time of t0-t01 and t01-t02 can be set to 0.3s. Similarly, the compensation deceleration corresponding to each compensation period can also be set according to requirements, as long as the absolute values of the compensation decelerations corresponding to each compensation period decrease in order of the compensation time, and the absolute values of all the compensation decelerations are less than or equal to the absolute value of the initial deceleration. Preferably, the change of the compensation deceleration is designed to have a linear characteristic, so that the passengers on the vehicle 100 will feel more comfortable, and the mechanical structure will also be executed better. Further, the number of compensation periods can also be set according to requirements, Figure 4The compensation section in the preset compensation curve is designed to change in gradient, so as to facilitate the execution of the whole vehicle braking system 41. When the vehicle 100 is a special vehicle 100 such as a transport vehicle loaded with large goods, due to its large mass and large inertia, the compensation duration of the compensation section can be set longer, the compensation acceleration change range of the compensation section is smaller, and the number of the compensation section can also be increased correspondingly.

[0046] In an embodiment, the preset compensation curve comprises a first compensation section corresponding to a first compensation duration, a second compensation section corresponding to a second compensation duration, and a third compensation section corresponding to all remaining durations after the second compensation section, which are sequentially arranged in order of the compensation time; for example, Figure 4 The t0-t01 stage shown in the preset compensation curve is the first compensation section, the t01-t02 stage is the second compensation section, and the stage after t02 is the third compensation section. In the preset compensation curve, Figure 4 In the preset compensation curve, the first compensation deceleration corresponding to the t0-t01 stage (first compensation section) is the initial deceleration a0, the second compensation deceleration corresponding to the t01-t02 stage (second compensation section) is 0.8a0 (0.8 times the initial deceleration a0), and the third compensation deceleration corresponding to the stage after t02 (third compensation section) is 0.6a0 (0.6 times the initial deceleration a0). The absolute values of the compensation decelerations corresponding to the above-mentioned compensation sections sequentially decrease in order of the compensation time, and the absolute values of all the compensation decelerations are less than or equal to the absolute value of the initial deceleration. Further, in the step S302, the blind area collision avoidance compensation operation is performed according to the preset compensation curve within the compensation time, which comprises:

[0047] The first compensation deceleration corresponding to the first compensation section is obtained from the preset compensation curve, and the vehicle 100 is controlled to travel according to the first compensation deceleration starting from the entering time point; the first compensation deceleration is less than the initial deceleration; in this embodiment, t0 is the entering time point, and t1 is the leaving time point at which the target collision avoidance vehicle 200 leaves the compensation blind area 300. Therefore, starting from the entering time point t0, the vehicle 100 is controlled to decelerate according to the first compensation deceleration (equal to the initial deceleration a0). Moreover, if it is confirmed in the first compensation section that the target collision avoidance vehicle 200 has left the compensation blind area 300 at the leaving time point, the blind area collision avoidance compensation operation will be directly stopped at this time.

[0048] According to the first compensation deceleration, the vehicle 100 is controlled to travel according to a second compensation deceleration corresponding to a second compensation segment of the preset compensation curve when it is determined that the target vehicle 200 has not yet reached the disengagement time point of the compensation blind area 300. The second compensation deceleration is less than the first compensation deceleration. That is, after entering the second compensation segment (i.e., at time t01), if it is determined that the target vehicle 200 has not yet reached the disengagement time point of the compensation blind area 300, the vehicle 100 is controlled to travel according to the second compensation deceleration (0.8 times the initial deceleration a0) from time t01. When the target vehicle 200 has reached the disengagement time point of the compensation blind area 300 in the second compensation segment, the blind area collision compensation operation is directly stopped.

[0049] According to the second compensation deceleration, the vehicle 100 is controlled to travel according to a third compensation deceleration corresponding to a third compensation segment of the preset compensation curve when it is determined that the target vehicle 200 has not yet reached the disengagement time point, and the blind area collision compensation operation is stopped when the target vehicle 200 reaches the disengagement time point. The third compensation deceleration is less than the second compensation deceleration. That is, after entering the third compensation segment (i.e., at time t02), if it is determined that the target vehicle 200 has not yet reached the disengagement time point of the compensation blind area 300, the vehicle 100 is controlled to travel according to the third compensation deceleration (0.6 times the initial deceleration a0) from time t02. When the target vehicle 200 has reached the disengagement time point of the compensation blind area 300 in the third compensation segment, the blind area collision compensation operation is directly stopped.

[0050] In an embodiment, after the target vehicle 200 enters the compensation blind area of the vehicle 100, the method further includes the following steps:

[0051] When the first signal or the second signal detects the target vehicle 200, it is determined that the target vehicle 200 has left the compensation blind area. Understandably, after the target vehicle 200 enters the compensation blind area of the vehicle 100, if the first communication channel or / and the second communication channel is reconnected after being disconnected, the first signal or the second signal re-detects the target vehicle 200. The above situation can include:

[0052] During the blind area collision compensation operation, the relative speed between the target vehicle 200 and the vehicle 100 does not change, and at this time, the target vehicle 200 should enter the compensation blind area of the vehicle 100 Figure 4After entering the radar detection area 500 through the corresponding third compensation section, the second signal will detect the target vehicle, and the second communication channel is reconnected, so that it can be determined that the target vehicle has left the compensation blind area.

[0053] During the execution of the blind area collision avoidance compensation operation, the relative speed between the target vehicle 200 and the vehicle 100 increases (the front vehicle, i.e., the target vehicle 200 brakes, or the vehicle 100 accelerates), at which time the target vehicle 200 can quickly enter the radar detection area 500, at which time the target vehicle 200 can enter the first compensation section and the second compensation section, and the second signal will detect the target vehicle 200, and the second communication channel is reconnected, so that it can be determined that the target vehicle 200 has left the compensation blind area 300. Figure 4

[0054] During the execution of the blind area collision avoidance compensation operation, if the relative speed between the target vehicle 200 and the vehicle 100 decreases (the front vehicle, i.e., the target vehicle 200 accelerates, or the vehicle 100 decelerates), causing the target vehicle 200 to return to the image shooting area 400 corresponding to the shooting module 21, at which time the first signal will detect the target vehicle 200, and the first communication channel is reconnected, so that it can be determined that the target vehicle 200 has left the compensation blind area 300.

[0055] In an embodiment, after the step S30, i.e., after the execution of the blind area collision avoidance compensation operation, it includes: when it is determined that the target vehicle 200 has left the compensation blind area 300, stopping the execution of the blind area collision avoidance compensation operation and returning to obtaining new driving data of the vehicle 100, which includes new first signals or / and new second signals sent through the reconnected first communication channel or / and the second communication channel. That is, in this embodiment, when it is determined that the target vehicle 200 has left the compensation blind area 300, it means that the first communication channel or / and the second communication channel is reconnected, and the first signal and the second signal are not double failed, but at least one is valid, at which time the execution of the blind area collision avoidance compensation operation can be stopped, and the new driving data of the vehicle 100 is obtained (through the valid first signal or / and the second signal), and then a new target vehicle 200 is determined according to the new driving data (it should be noted that the new target vehicle 200 can be the original target vehicle 200 or other vehicles 100 different from it), and a new collision avoidance operation is performed on the new target vehicle 200, and then the subsequent steps are continued according to the blind area compensation-based collision avoidance control method of the present application. ​

[0056] Understandably, when the target anti-collision vehicle 200 is confirmed to be out of the compensation blind area 300, if the target anti-collision vehicle 200 re-enters the radar detection area 500, it means that the second communication channel is re-connected at this time, and therefore the blind area anti-collision compensation operation will stop operating as soon as it enters the radar detection area 500. If the target anti-collision vehicle 200 re-enters the image shooting area 400 corresponding to the shooting module 21, it means that the first communication channel is re-connected, and therefore the blind area anti-collision compensation operation will stop operating as soon as it enters the image shooting area 400.

[0057] In an embodiment, after the step S30, i.e. after the blind area anti-collision compensation operation is performed, it includes: when the driving speed of the vehicle 100 is zero and the target anti-collision vehicle 200 has not yet left the compensation blind area 300, stop performing the blind area anti-collision compensation operation. That is, if the driving speed of the vehicle 100 is zero when the first communication channel and the second communication channel are both not re-connected during the execution of the blind area anti-collision compensation operation, it means that the vehicle 100 has stopped, and therefore there is no need to continue to perform the blind area anti-collision compensation operation, but to keep the stopped state.

[0058] In an embodiment, after the step S30, i.e. after the blind area anti-collision compensation operation is performed, it includes: when the driving speed of the vehicle 100 is zero and the target anti-collision vehicle 200 has not yet left the compensation blind area 300, stop performing the blind area anti-collision compensation operation. That is, if the driving speed of the vehicle 100 is zero when the first communication channel and the second communication channel are both not re-connected during the execution of the blind area anti-collision compensation operation, it means that the vehicle 100 has stopped, and therefore there is no need to continue to perform the blind area anti-collision compensation operation, but to keep the stopped state. Figure 3 As shown in the figure, the preset prompting device 3 can include one or more of the prompting light 31, the preset display screen 32 and the preset sound device 33. After the preset prompting device 3 is turned on, the prompting information (the prompting information is used to indicate that the target anti-collision vehicle 200 is currently in the compensation blind area 300 of the vehicle 100) can be prompted by the light of the prompting light 31 in the preset prompting device 3, and the light prompting parameters can be set according to the needs. The light prompting parameters can be different light colors, flashing frequencies and brightnesses of the prompting light 31, etc. Further, the display interface of the preset display screen 32 in the preset prompting device 3 can also be used to display the prompting information for prompting, and the display mode of the prompting information can be set according to the needs of the user. Further, the preset sound device 33 in the preset prompting device 3 can be used to play the prompting sound for prompting, wherein the prompting sound can be a voice broadcast prompt sound or a siren sound, etc. The sound prompting parameters can be set according to the needs, and the sound prompting parameters include but are not limited to the playing content, tone and volume of the sound, etc.

[0059] Furthermore, after step S30, after performing the blind spot collision avoidance compensation operation, the following steps are included: upon confirming that the target collision avoidance vehicle 200 has left the compensation blind spot 300, the preset warning device 3 is turned off. That is, the preset warning device 3 can be turned off after leaving the compensation blind spot 300.

[0060] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0061] This invention also provides a collision avoidance control system based on blind spot compensation, which corresponds one-to-one with the collision avoidance control methods described in the above embodiments. The collision avoidance control system includes:

[0062] An acquisition module is used to acquire vehicle driving data, the driving data including a first signal transmitted through a first communication channel and a second signal transmitted through a second communication channel;

[0063] The judgment module is used to determine whether the target collision avoidance vehicle has entered the vehicle's compensation blind zone based on the first signal and the second signal;

[0064] The execution module is used to perform blind spot collision avoidance compensation operation according to a preset compensation strategy when it is determined that the target collision avoidance vehicle has entered the vehicle's compensation blind spot.

[0065] For specific limitations regarding the collision avoidance control system, please refer to the limitations on the collision avoidance control method above, which will not be repeated here. Each module in the aforementioned collision avoidance control system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0066] The present invention also provides a vehicle 100, such as Figure 3 As shown, the system includes a controller 1, which is used to execute the blind spot compensation-based collision avoidance control method. The controller 1 includes a collision mitigation unit 11, a vehicle CAN bus 12, and an electronic brake control unit 13.

[0067] Specific limitations regarding controller 1 and its units and modules can be found in the above description of the limitations for the collision avoidance control method based on blind zone compensation, and will not be repeated here. Each module in controller 11 can be implemented entirely or partially through software, hardware, or a combination thereof. Understandably, as... Figure 5As shown, the controller 1 includes a processor, a memory, a network interface and a database connected through a system bus. The modules of the controller 1 can be embedded in or independent of the processor in hardware form, or stored in the memory in software form so as to be called and executed by the processor to perform the operations corresponding to the above modules. The processor is configured to provide computing and control capabilities. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database is configured to store data used by the blind area compensation-based collision avoidance control method in the above embodiments. The network interface is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement a blind area compensation-based collision avoidance control method.

[0068] Further, the vehicle 100 further includes a control system 4, the control system 4 includes a vehicle braking system 41 which is in communication connection with the controller 1. Further, the vehicle 100 further includes a preset perception module 2; the preset perception module 2 includes a shooting module 21 (composed of a digital camera, etc.) and a radar module 22 (composed of a sound wave radar, etc.) which are in communication connection with the controller 1. Figure 3 The collision mitigation unit 11 in the vehicle 100 can obtain the driving speed of the vehicle 100 through the vehicle CAN 12 network. Further, the vehicle 100 further includes a preset prompting device 3, the preset prompting device 3 includes a preset display screen 32, the display interface of the preset display screen 32 is configured to display prompt information for prompting; the preset prompting device 3 further includes a preset sound emitting device 33, the preset sound emitting device 33 is configured to play prompt sound for prompting; the preset prompting device 3 further includes a prompt lamp 31, the prompt lamp 31 lights up according to light prompt parameters. For more specific limitations of the vehicle 100, the controller 1 and other modules, please refer to the limitations of the blind area compensation-based collision avoidance control method in the above, which will not be repeated here.

[0069] In one embodiment, a computer readable storage medium is provided, the computer readable storage medium stores a computer program, the computer program is executed by a processor to implement the above blind area compensation-based collision avoidance control method.

[0070] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, storage, database or other medium used in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0071] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of functional units and modules is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the above-described functions.

[0072] The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A collision avoidance control method based on blind spot compensation, characterized in that, include: Acquire vehicle driving data, the driving data including a first signal transmitted through a first communication channel and a second signal transmitted through a second communication channel; Based on the first signal and the second signal, determine whether the target collision avoidance vehicle has entered the vehicle's compensation blind zone; When it is determined that the target collision avoidance vehicle has entered the vehicle's compensation blind spot, a blind spot collision avoidance compensation operation is performed according to a preset compensation strategy. The detection range of the first signal is greater than the detection range of the second signal; The step of determining whether the target collision avoidance vehicle has entered the vehicle's compensation blind spot based on the first signal and the second signal includes: The target collision avoidance vehicle is determined based on the first signal; When the first signal indicates that the detection signal for the target collision avoidance vehicle is lost, and the second signal does not detect the target collision avoidance vehicle, it is determined that the target collision avoidance vehicle has entered the vehicle's compensation blind zone.

2. The collision avoidance control method based on blind spot compensation as described in claim 1, characterized in that, After determining the target collision avoidance vehicle based on the first signal, the method further includes: Perform a collision avoidance operation on the target collision avoidance vehicle.

3. The collision avoidance control method based on blind spot compensation as described in claim 2, characterized in that, After determining that the target collision avoidance vehicle has entered the vehicle's compensation blind spot, the method further includes: When the first signal or the second signal detects the target collision avoidance vehicle, it is determined that the target collision avoidance vehicle has left the compensation blind zone.

4. The collision avoidance control method based on blind spot compensation as described in claim 1, characterized in that, The step of performing blind spot collision avoidance compensation operation according to the preset compensation strategy includes: Determine the entry time point of the target collision avoidance vehicle into the vehicle's compensation blind zone, and obtain the initial deceleration of the vehicle at the entry time point; A preset compensation curve is obtained, and a blind spot collision avoidance compensation operation is performed according to the preset compensation curve within the compensation time to control the reduction of the initial deceleration of the vehicle; the compensation time refers to the time period from the entry time point to the exit time point of the target collision avoidance vehicle leaving the compensation blind spot.

5. The collision avoidance control method based on blind spot compensation as described in claim 4, characterized in that, The preset compensation curve includes at least two compensation segments arranged sequentially according to the compensation time; each compensation segment corresponds to a compensation deceleration; the absolute value of the compensation deceleration corresponding to each compensation segment decreases sequentially according to the compensation time; the absolute value of all compensation decelerations is less than or equal to the absolute value of the initial deceleration. The step of performing blind spot collision avoidance compensation operation according to the preset compensation curve within the compensation time includes: The vehicle is controlled to move in sequence with the compensation time in the preset compensation curve, and the vehicle moves in sequence with the compensation deceleration corresponding to each compensation segment until the target collision avoidance vehicle leaves the compensation blind zone at the departure time point, at which point the blind zone collision avoidance compensation operation is stopped.

6. The collision avoidance control method based on blind spot compensation as described in claim 4, characterized in that, The preset compensation curve includes a first compensation segment corresponding to a first compensation duration, a second compensation segment corresponding to a second compensation duration, and a third compensation segment corresponding to all remaining durations after the second compensation segment, arranged sequentially according to the compensation time. The step of performing blind spot collision avoidance compensation operation according to the preset compensation curve within the compensation time includes: The first compensation deceleration corresponding to the first compensation segment is obtained from the preset compensation curve, and the vehicle is controlled to move according to the first compensation deceleration starting at the entry time point; the first compensation deceleration is less than the initial deceleration; When the vehicle decelerates for the first compensation duration according to the first compensation deceleration and it is confirmed that the departure time point of the target collision avoidance vehicle from the compensation blind zone has not yet been reached, the vehicle is controlled to drive according to the second compensation deceleration corresponding to the second compensation segment in the preset compensation curve; the second compensation deceleration is less than the first compensation deceleration. When the vehicle decelerates according to the second compensation deceleration for the second compensation duration, and it is confirmed that the departure time point has not yet been reached, the vehicle is controlled to drive according to the third compensation deceleration corresponding to the third compensation segment in the preset compensation curve, until the departure time point is reached, at which point the blind spot collision avoidance compensation operation is stopped; the third compensation deceleration is less than the second compensation deceleration.

7. The collision avoidance control method based on blind spot compensation as described in claim 1, characterized in that, After performing the blind spot collision avoidance compensation operation, the following is included: When it is confirmed that the target collision avoidance vehicle has left the compensation blind spot, the blind spot collision avoidance compensation operation is stopped, and the process returns to acquiring new driving data of the vehicle. The new driving data includes a new first signal and / or a new second signal sent through the reconnected first communication channel and / or the second communication channel.

8. The collision avoidance control method based on blind spot compensation as described in claim 1, characterized in that, After performing the blind spot collision avoidance compensation operation, the following is included: When the vehicle's speed is zero and the target collision avoidance vehicle has not yet left the compensation blind zone, the blind zone collision avoidance compensation operation is stopped.

9. The collision avoidance control method based on blind spot compensation as described in claim 1, characterized in that, The first signal is an image signal captured in real time by the camera module installed on the vehicle; the second signal is a radar signal detected in real time by the radar module installed on the vehicle. The acquisition of vehicle driving data includes: The system acquires a first signal sent by the imaging module through the first communication channel and a second signal sent by the radar module through the second communication channel.

10. The collision avoidance control method based on blind spot compensation as described in claim 1, characterized in that, After determining that the target collision avoidance vehicle has entered the vehicle's compensation blind spot, the method further includes: Activate the preset warning device to alert the target collision avoidance vehicle that it is currently in the compensation blind spot; After performing the blind spot collision avoidance compensation operation, the following is included: Once it is confirmed that the target collision avoidance vehicle has left the compensation blind spot, the preset warning device is turned off.

11. A collision avoidance control system based on blind spot compensation, characterized in that, include: An acquisition module is used to acquire vehicle driving data, the driving data including a first signal transmitted through a first communication channel and a second signal transmitted through a second communication channel; The judgment module is used to determine whether a target collision avoidance vehicle has entered the vehicle's compensation blind zone based on the first signal and the second signal; the detection range of the first signal is greater than the detection range of the second signal; the step of determining whether a target collision avoidance vehicle has entered the vehicle's compensation blind zone based on the first signal and the second signal includes: identifying a target collision avoidance vehicle based on the first signal; when the first signal indicates that the detection signal for the target collision avoidance vehicle has been lost, and the second signal does not detect the target collision avoidance vehicle, determining that the target collision avoidance vehicle has entered the vehicle's compensation blind zone; The execution module is used to perform blind spot collision avoidance compensation operation according to a preset compensation strategy when it is determined that the target collision avoidance vehicle has entered the vehicle's compensation blind spot.

12. A vehicle, characterized in that, Includes a controller for performing the blind spot compensation-based collision avoidance control method as described in any one of claims 1 to 10.

13. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the collision avoidance control method based on blind spot compensation as described in any one of claims 1 to 10.

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