Automatic anti-collision system and method for vehicle steering

Abstract

The invention provides an automatic anti-collision system for vehicle steering, which comprises a driving control computer linked with an automatic emergency brake auxiliary system and an automatic anti-collision system for vehicle steering, and the automatic emergency brake auxiliary system can provide automatic emergency brake auxiliary information. After the automobile steering automatic anti-collision system is started, steering anti-collision decision information can be provided, and the driving control computer can fuse the automatic emergency brake auxiliary information and the steering anti-collision decision information.

Description

Technical Field

[0001] This application relates to an automatic emergency braking assist system for a vehicle, and more particularly to an automatic emergency braking assist system for a vehicle that includes an automatic steering collision avoidance system. Background Technology

[0002] With advancements in technology, most vehicles on the market today are equipped with an Automatic Emergency Braking System (AEB) to prevent collisions while driving. However, current AEB systems are designed to avoid rear-end collisions with vehicles traveling at different speeds. AEB primarily uses radar sensors located at the front of the vehicle to detect the distance between the vehicle and any vehicle (or obstacle) ahead. If the distance between the two vehicles falls below a preset value, the system activates the vehicle's braking system for emergency braking and issues a warning to prevent a collision or rear-end collision.

[0003] However, many traffic accidents are caused by blind spots created by the vehicle's structure. For example, when a driver is turning, the A-pillar can easily obstruct pedestrians, vehicles, or traffic signals, leading to an accident. However, current AEB (Autonomous Emergency Braking) systems cannot determine the relative position and angle of moving objects within the A-pillar blind spot. Therefore, because the A-pillar blind spot is not within the range of the AEB braking warning system's activation, accidents during turns continue to occur frequently.

[0004] To reduce the frequent occurrence of such accidents, the problem addressed in this application is how to provide the AEB (Autonomous Emergency Braking) system with a wider field of view when the vehicle is turning, so that the AEB system can also detect obstacles within the A-pillar's field of view and activate braking warnings, thereby avoiding collisions and reducing accidents. Summary of the Invention

[0005] The technical problem to be solved by this application is to provide an automatic collision avoidance system and method for vehicle steering, so as to solve the technical problems existing in the prior art.

[0006] This application proposes a vehicle steering automatic collision avoidance system, comprising: a vehicle control computer linked to an automatic emergency braking assist system and a vehicle steering automatic collision avoidance system, wherein the automatic emergency braking assist system can provide automatic emergency braking assist information, and the vehicle steering automatic collision avoidance system can provide steering collision avoidance decision information when activated, and the vehicle control computer can integrate the automatic emergency braking assist information and the steering collision avoidance decision information.

[0007] Furthermore, it also includes an urban or highway judgment intervention module, which provides urban or highway road information, and the vehicle control computer can activate the vehicle steering automatic collision avoidance system based on the urban or highway road information.

[0008] Furthermore, the automatic collision avoidance system for vehicle steering includes a vehicle speed and extended turning area determination module, which provides extended turning area determination information.

[0009] Furthermore, the automatic collision avoidance system for vehicle steering includes a steering system variation threshold and tire trajectory prediction module, which provides steering system variation threshold information and future vehicle trajectory information.

[0010] Furthermore, the automatic collision avoidance system for vehicle steering includes a wide-angle lens activation module, which provides a wide-angle activation signal to a wide-angle lens based on the extended judgment of turning area information and the vehicle's future trajectory information.

[0011] Furthermore, the wide-angle lens provides wide-angle lens information.

[0012] Furthermore, the automatic steering collision avoidance system includes a turning deviation red frame area obstacle judgment module, which provides steering collision avoidance decision information to the vehicle control computer based on the wide-angle lens information and the vehicle's future movement trajectory information.

[0013] Furthermore, the urban area or highway identification module is a road sign recognition system.

[0014] Furthermore, the extended information on the turning area includes a turning distance.

[0015] Furthermore, the steering system variation threshold information includes a tire rotation direction extension line, a left threshold, and a right threshold.

[0016] Furthermore, the vehicle's future movement trajectory information includes a future movement trajectory extension line, a warning box, and a warning area.

[0017] This application proposes a method for automatic collision avoidance when steering a vehicle, comprising the following steps: Step S1, a vehicle control computer determines and activates an automatic collision avoidance system for steering based on urban or highway road information; Step S2, a vehicle speed and extended turning area determination module provides extended turning area information; Step S3, a steering system change threshold and tire trajectory prediction module 132 provides steering system change threshold information and future vehicle trajectory information; Step S4, based on the determination results of Steps S2 and S3, a wide-angle lens activation module provides a wide-angle activation signal to a wide-angle lens; Step S5, the wide-angle lens provides wide-angle lens information; Step S6, a turning deviation red box area obstacle determination module provides steering collision avoidance decision information to the vehicle control computer based on the wide-angle lens information and the future vehicle trajectory information; Step S7, the vehicle control computer can integrate the steering collision avoidance decision information and automatic emergency braking assistance information provided by an automatic emergency braking assistance system.

[0018] Furthermore, the extended information for determining the turning area includes a turning distance, which can vary depending on the vehicle's forward speed.

[0019] Furthermore, the steering system change threshold information includes a tire rotation direction extension line, a left threshold, and a right threshold. The tire rotation direction extension line and the left threshold or the right threshold construct an intersection point. The vehicle is determined to be in a turning motion based on the relative position of the intersection point and the turning judgment distance.

[0020] Furthermore, the vehicle's future movement trajectory information may include a future movement trajectory extension line, a warning box, and a warning area.

[0021] The other effects and embodiments of this application are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a system block diagram of an automatic collision avoidance system for vehicle steering according to one embodiment of this application;

[0024] Figure 2 This is a system block diagram of a vehicle steering automatic collision avoidance system according to one embodiment of the present application, including an automatic vehicle steering collision avoidance system and an urban and highway judgment and intervention module;

[0025] Figure 3 This is a flowchart of an automatic collision avoidance method for vehicle steering according to one embodiment of this application;

[0026] Figure 4 This is a schematic diagram illustrating the extended judgment of turning area information by the automatic collision avoidance system for vehicle steering in one embodiment of this application.

[0027] Figure 5 The diagram shown is a schematic diagram of the steering system variation threshold information of the automatic collision avoidance system for vehicle steering in one embodiment of this application.

[0028] Figure 6 The diagram shown is a schematic representation of the future movement trajectory information of a vehicle in an automatic collision avoidance system for vehicle steering according to one embodiment of this application.

[0029] Figure 7 The diagram shown is a schematic representation of the vehicle's future movement trajectory information, including the future movement trajectory extension line, warning box, and warning area, according to one embodiment of this application.

[0030] Symbol Explanation

[0031] 1. Automatic Steering Collision Avoidance System

[0032] 11. Vehicle Control Computer

[0033] 12 Automatic Emergency Braking Assist System

[0034] 121 mmWave Radar Module

[0035] 122 Image Recognition Module

[0036] 123 Automatic Emergency Braking Assist Information

[0037] 13 Automatic Steering Collision Avoidance System

[0038] 131 Vehicle speed and extended turning area judgment module

[0039] 1311 Extend the judgment of turning area information

[0040] 13111 Judging distance when turning

[0041] 132 Steering System Variation Threshold and Tire Trajectory Prediction Module

[0042] 1321 Steering system variation threshold information

[0043] 13211 Tire rotation direction extension line

[0044] 13212 left threshold

[0045] 13213 right-side threshold

[0046] 13214 intersection point

[0047] During the turning motion A

[0048] B lane changing action

[0049] During a brief direction change at C-curve.

[0050] 1322 Vehicle future movement trajectory information

[0051] 13221 Future movement trajectory extension line

[0052] 13222 Warning Box

[0053] Warning area 13223

[0054] S-turn collision avoidance distance

[0055] 133 Wide-angle lens start-up module

[0056] 1331 Wide-angle start signal

[0057] 134 Turning Deviation Red-Box Area Obstacle Detection Module

[0058] 1341 Steering and Collision Avoidance Decision Information

[0059] 1342 Collision Warning

[0060] 14 Urban or Highway Sign Judgment Intervention Module

[0061] 141 City or Highway Information

[0062] 15mm wide-angle lens

[0063] 151mm wide-angle lens information

[0064] Steps S1 to S7 Detailed Implementation

[0065] To provide a clearer understanding of the content of this application, a detailed description of the application is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0066] Many specific details are set forth in the following description to provide a full understanding of this application, but the described embodiments are only a part of the embodiments, not all of them. All other embodiments based on the embodiments of this application, which can be easily implemented by those skilled in the art according to the content of this application, are within the scope of protection of this application.

[0067] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of some embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application.

[0068] Please see Figure 1 , Figure 1 The diagram shown is a system block diagram of an automatic steering collision avoidance system 1 according to an embodiment of this application. The automatic steering collision avoidance system 1 is applicable to a vehicle and includes: a vehicle control computer 11, an automatic emergency brake assist system 12, and an automatic steering collision avoidance system 13. The vehicle control computer 11 links the automatic emergency brake assist system 12 and the automatic steering collision avoidance system 13. When the automatic steering collision avoidance system 13 is activated, it can provide a collision avoidance warning 1342 and steering collision avoidance decision information 1341 to the vehicle control computer 11. The vehicle control computer 11 can integrate the steering collision avoidance decision information 1341 and the automatic emergency brake assist information 123 provided by the automatic emergency brake assist system 12. The vehicles described in this application include, but are not limited to, automobiles, trams, slow vehicles, and other powered vehicles traveling on roads.

[0069] In one embodiment of this application, the automatic emergency braking assist system 12 includes a millimeter-wave radar module 121. The millimeter-wave radar module 121 obtains the distance, speed, and angle of a target object by transmitting electromagnetic waves to it and receiving the echoes. The millimeter-wave radar module 121 provides millimeter-wave radar information. The automotive millimeter-wave radar can operate at frequencies of 24 GHz, 77 GHz, or 79 GHz. In another embodiment of this application, the automatic emergency braking assist system 12 may further include an image recognition module 122. The image recognition module 122 uses a camera lens to identify obstacles such as pedestrians, bicycles, and vehicles. The image recognition module 122 provides image recognition module information. The vehicle control computer 11 can fuse and judge the millimeter-wave radar information and / or the image recognition module information to obtain automatic emergency braking assist information 123.

[0070] Please see Figure 2 , Figure 2The diagram shows a vehicle steering automatic collision avoidance system 1 according to one embodiment of this application, including an urban or highway judgment intervention module 14 and a vehicle steering automatic collision avoidance system 13. The urban or highway judgment intervention module 14 can provide urban or highway road information 141, and the vehicle control computer 11 can activate the vehicle steering automatic collision avoidance system 13 based on the urban or highway road information 141. In one embodiment, the urban or highway judgment intervention module 14 can use a road sign recognition system to capture the urban or highway road information 141. The road sign recognition system captures dynamic road information around the vehicle through image recognition, and identifies the current road through road traffic signs and markings. For example, expressways have special symbols for identification. Through this image recognition, it can be determined whether the vehicle is currently on a highway or a surface road. The road sign recognition system continuously identifies the current road. When it is determined that the vehicle is currently on a highway, the vehicle steering automatic collision avoidance system 13 can be idle until an exit sign is identified, at which point the vehicle steering automatic collision avoidance system 13 can be activated again. The exit signage includes, but is not limited to, road traffic signs and markings such as exit signs, exit signs, and traffic lights. In another embodiment, the urban or highway determination intervention module 14 can also use navigation map data to obtain dynamic road information around the vehicle.

[0071] When the vehicle control computer 11 determines, based on urban or highway information 141, that the vehicle is currently on an urban road, it can activate the automatic steering collision avoidance system 13. The automatic steering collision avoidance system 13 includes a vehicle speed and extended turning area judgment module 131, a steering system change threshold and tire trajectory prediction module 132, a wide-angle lens activation module 133, and a turning deviation red-frame area obstacle judgment module 134. The vehicle speed and extended turning area judgment module 131 can provide extended turning area judgment information 1311; the steering system change threshold and tire trajectory prediction module 132 can provide steering system change threshold information 1321 and vehicle future movement trajectory information 1322; the wide-angle lens activation module 133 can determine and provide a wide-angle activation signal 1331 to a wide-angle lens 15 based on the extended turning area judgment information 1311 and the steering system change threshold information 1321; the wide-angle lens 15 can provide wide-angle lens information 151; the turning deviation red box area obstacle judgment module 134 can provide collision avoidance warning 1342 and steering collision avoidance decision information 1341 to the vehicle control computer 11 based on the wide-angle lens information 151.

[0072] Please see Figure 3 , Figure 3The diagram shows the execution steps of the automatic steering collision avoidance system 1 of this application, including: Step S1, the vehicle control computer 11 determines and activates the automatic steering collision avoidance system 13 based on the urban or highway road information; Step S2, the vehicle speed and extended turning area determination module 131 provides extended turning area determination information 1311; Step S3, the steering system change threshold and tire trajectory prediction module 132 provides steering system change threshold information 1321 and vehicle future movement trajectory information 1322; Step S4, based on the determination in steps S2 and S3... As a result, the wide-angle lens activation module 133 provides a wide-angle activation signal 1331 to a wide-angle lens 15; in step S5, the wide-angle lens 15 provides wide-angle lens information 151; in step S6, the turning deviation red box area obstacle judgment module 134 provides steering collision avoidance decision information 1341 and collision avoidance warning 1342 to the vehicle control computer 11 based on the wide-angle lens information 151; in step S7, the vehicle control computer 11 can integrate the steering collision avoidance decision information 1341 and an automatic emergency braking assistance information 123 provided by the automatic emergency braking assistance system 12.

[0073] In step S2 above, the vehicle speed and extended turning area determination module 131 provides extended turning area determination information 1311. For example... Figure 4 As shown, Figure 4 The diagram shows an extended turning area information 1311 of the automatic steering collision avoidance system 1 according to an embodiment of this application. The extended turning area information 1311 may include a turning judgment distance 13111 extended from the vehicle's current speed. This turning judgment distance 13111 can be, for example, but not limited to, the following: on a normal road, at a current speed of 10 km / h, the turning judgment distance 13111 can be 5 meters; at a current speed of 20 km / h, the turning judgment distance 13111 can be 8 meters; at a current speed of 30 km / h, the turning judgment distance 13111 can be 12 meters; at a current speed of 40 km / h, the turning judgment distance 13111 can be 16 meters; at a current speed of 50 km / h, the turning judgment distance 13111 can be 30 meters; and at a current speed of 60 km / h, the turning judgment distance 13111 can be 35 meters. It is understood that the above-mentioned turning distance 13111 is only an example. The turning distance 13111 of this application may have different preset methods depending on the vehicle speed in front and the vehicle model, which does not affect the spirit of this application.

[0074] In step S3 above, the steering system variation threshold and tire trajectory prediction module 132 provides steering system variation threshold information 1321 and vehicle future movement trajectory information 1322. For example... Figure 5 As shown, Figure 5The diagram shown is a schematic representation of the steering system variation threshold information 1321 of the automatic steering collision avoidance system 1 in one embodiment of this application. Figure 6 As shown, Figure 6 The diagram shown is a schematic representation of the vehicle's future trajectory information 1322 in an embodiment of the automatic collision avoidance system 1 for vehicle steering according to this application. Figure 5 As shown, the steering system variation threshold information 1321 includes a tire rotation direction extension line 13211, a left threshold 13212, and a right threshold 13213. The tire rotation direction extension line 13211 varies according to the tire rotation direction. The tire rotation direction extension line 13211 and the left threshold 13212 or the right threshold 13213 can construct an intersection point 13214. When the vehicle turns left, the intersection point 13214 is constructed by the tire rotation direction extension line 13211 of the vehicle's right wheel and the left threshold 13212; when the vehicle turns right, the intersection point 13214 is constructed by the tire rotation direction extension line 13211 of the vehicle's left wheel and the left threshold 13212. The steering system change threshold and tire trajectory prediction module 132 determines whether the vehicle is in a turning motion (A), a lane changing motion (B), or a brief direction change motion (C) on a curve based on the position of the tire rotation direction extension line 13211, the left threshold 13212 or the right threshold 13213, and the intersection point 13214. For example, with a vehicle speed of 60 km / h and a turning judgment distance 13111 set to 35 meters, if the intersection point 13214 of the tire rotation direction extension line 13211 and the left threshold 13212 or the right threshold 13213 falls within or outside 35 meters (e.g., within 45 meters), the vehicle can be judged to be in a lane changing motion (B). If it falls within 35 meters (e.g., within 25 meters), the vehicle can be judged to be in a turning motion (A). The judgment time must be maintained for at least 1 second before proceeding to the next step to avoid misjudgment caused by brief changes. It is understood that the judgment time is a default value. Whether it is 0.5 seconds, 0.75 seconds, 1 second, 1.25 seconds, or 1.5 seconds, as long as it can determine whether the vehicle is in a turning motion (A), a lane changing motion (B), or a brief direction change motion on a curve (C), it can be adjusted according to the actual usage. For example... Figure 6 and Figure 7 As shown, Figure 7The diagram illustrates the future trajectory information 1322 of a vehicle turning left in one embodiment of this application, including a future trajectory extension line 13221, a warning box 13222, and a warning area 13223. The future trajectory information 1322 may include a future trajectory extension line 13221 drawn according to the vehicle's forward speed and the direction of rotation of both tires, a warning box 13222, and a warning area 13223. The width of the warning box 13222 and the warning area 13223 is the vehicle's width plus a steering collision avoidance distance S. In one embodiment, the steering collision avoidance distance S can be set to a wheelbase width of 5 meters, but it is understood that the steering collision avoidance distance S can be appropriately adjusted according to the vehicle's forward speed.

[0075] Based on the extended judgment of the turning area information 1311 in step S2 and the steering system change threshold information 1321 in step S3, if the vehicle is determined to be in a turning motion A, then step S4 can be performed. When the vehicle is determined to be in a turning motion A, the wide-angle lens activation module 133 provides a wide-angle activation signal 1331 to a wide-angle lens 15, which can activate the wide-angle lens 15. In one embodiment, the wide-angle lens 15 is mounted on the windshield behind the rearview mirror to obtain the maximum horizontal viewing angle close to the driver's position. While the horizontal viewing angle of a typical lens is about 60 degrees, in this embodiment, the wide-angle lens 15 can achieve a horizontal viewing angle of about 120 degrees and a diagonal viewing angle of about 150 degrees, thus pre-judging the viewing angle beyond the area behind the A-pillar.

[0076] Step S5: Wide-angle lens 15 provides wide-angle lens information 151; when wide-angle lens 15 is activated, wide-angle lens information 151 is provided. It is understood that the wide-angle lens activation module 133, wide-angle lens 15, and wide-angle lens information 151 described in this application can also be a zoom lens, such as a zoom lens switching module, a close-focus lens, and close-focus lens information. During normal driving, a telephoto lens is used; when in a turning maneuver A, it switches to a close-focus lens and provides close-focus lens information. Whether using a lens or a camera, this is easily accomplished by those skilled in the art and does not depart from the scope of protection intended by this application. In another embodiment, when wide-angle lens 15 is activated, a speed limiting system can also be activated simultaneously to reduce the vehicle speed to a safe turning range to prevent loss of control and sudden acceleration. In yet another embodiment, when wide-angle lens 15 is activated, the speed limiting system and the traction control system (TCS) should be activated or deactivated simultaneously.

[0077] In step S6, the obstacle judgment module 134, based on the wide-angle lens information 151, the future movement trajectory extension line 13221, and a warning box 13222, determines whether a person, vehicle, or foreign object has entered the warning box 13222, and then uses big data experience calculations to determine whether to issue steering collision avoidance decision information 1341 to the vehicle control computer 11. The big data experience calculations mentioned in this application may include, but are not limited to, architectures such as Convolutional Neural Networks (CNN).

[0078] In another embodiment, before issuing the steering collision avoidance decision information 1341, a collision avoidance warning 1342 may be issued first to remind the driver to pay attention. After the collision avoidance warning 1342 is issued, if the activation conditions of the steering collision avoidance decision information 1341 are not lifted within a preset period, the steering collision avoidance decision information 1341 may be issued.

[0079] In step S7, the vehicle control computer 11 can activate the automatic emergency braking assist system 12 based on the steering collision avoidance decision information 1341. After receiving the steering collision avoidance decision information 1341, the vehicle control computer 11 can integrate the automatic emergency braking assist information and the steering collision avoidance decision information to determine whether to activate the automatic emergency braking assist system 12 to actively intervene and stop the vehicle.

[0080] In steps S1-S3 above, if the condition A of the vehicle being in a turning motion is resolved, the wide-angle lens activation module 133 will no longer provide a wide-angle activation signal 1331 to the wide-angle lens 15, and the activation of the wide-angle lens 15 will be deactivated. It can be understood that in other embodiments, after the condition A of the vehicle being in a turning motion is resolved, the activation may be delayed until the tire rotation direction extension line 13211 returns to the tangent, at which point the wide-angle lens activation module 133 will no longer provide a wide-angle activation signal 1331 to the wide-angle lens 15, and the activation of the wide-angle lens 15 will be deactivated.

[0081] This application's automatic steering collision avoidance system 1 uses a convolutional neural network (CNN) as an example, but the algorithm can be other than just a CNN. The main steps of the CNN in this application's automatic steering collision avoidance system 1 can include: CNN1: Constructing a steering information and angle database, including data collection: collecting vehicle steering information and steering system angles using cameras and sensors. This data will be used to build a database recording the vehicle's reaction characteristics at different steering angles; CNN model training: using a convolutional neural network (CNN) to analyze this data to extract features and learn the vehicle's behavior patterns at different steering angles. CNN2: Calculating tire trajectories and generating trajectory maps, including trajectory prediction: calculating the expected tire trajectories based on the output of the CNN model. These trajectories will be used to determine the vehicle's future driving path; Drawing the trajectory map: visualizing the predicted trajectories in image form, obtaining the future movement trajectory extension line 13221, and marking the steering collision avoidance safety distance S beyond the front wheel trajectory on the image as a warning box 13222 and a warning area 13223. CNN3: Segmenting the trajectory map and calculating weight changes, including: Region segmentation: Dividing the warning box 13222 and warning region 13223 on the trajectory map into n^2 smaller boxes, each representing an independent detection unit. Adaptive grid partitioning or dynamic partitioning strategies based on key regions can be used to reduce partitioning complexity, thereby reducing unnecessary computation while maintaining accuracy; Weight calculation: Applying a data model to each smaller box to calculate its weight changes. These weight changes reflect the edge features and their variations within each region. A multimodal perception system is used to enable the model to dynamically adapt to environmental changes during operation. CNN4: Real-time monitoring and analysis of image changes, including: Image monitoring: Real-time image monitoring of these segmented smaller boxes and detection of changes in image content, for example, using Full HD resolution image data at 60 frames per second for analysis. Understandably, whether it's 10, 20, 30, 40, 50, or 60 frames, as long as the number of frames is sufficient to identify obstacles such as pedestrians, bicycles, and vehicles, it can be adjusted according to the actual situation. The system reduces Full HD resolution latency by optimizing algorithms and balancing processing speed and accuracy in actual operation. Feature detection and comparison: By comparing the amount of image change between the previous and new frames, objects rapidly entering the warning box 13222 are identified. If the change exceeds a preset threshold, it indicates a potential hazard. Advanced object detection technologies (such as Faster R-CNN, YOLO, etc.) can be considered to improve the accuracy of recognizing various objects. Dynamic thresholds or adaptive thresholds based on risk assessment can also be used to dynamically adjust the system according to vehicle speed, environmental changes, and road conditions, improving the system's adaptability under different circumstances.CNN5: Collision Warning and Automatic Emergency Braking (AEB), including: Collision Warning: Once the system detects a potential collision risk (such as an object rapidly entering the warning zone), it immediately issues a collision warning 1342 to alert the driver; Automatic Emergency Braking Assist 12 activation: If the system further determines a collision risk, or detects non-road traffic elements in the image (such as pedestrians or animals on a zebra crossing), it automatically activates Automatic Emergency Braking Assist 12 to prevent a collision. CNN6: System Performance and Tuning, including: Continuous Learning: The system can utilize reinforcement learning and adaptive algorithms to continuously learn and optimize the model's accuracy and reaction speed. This allows it to cope with varying road environments and different driving conditions; Model Accuracy Optimization: Model parameters, such as the threshold for weight changes, the size of region segmentation, and the depth and number of layers of the model, are adjusted according to actual conditions to improve the system's accuracy and stability.

[0082] To address the heavy computational and judgment requirements of CNNs and avoid inaccurate judgments due to image delays, the Google LeNet AI model can be used. Under the same computational conditions, it can effectively reduce the number of layers and image regions. This can significantly reduce the number of information entries and data that the vehicle's computer needs to judge, allowing most of the computational power to be allocated to the number of frames in the video, enabling faster detection of edge changes and pedestrians or obstacles.

[0083] The embodiments and / or implementation methods described above are merely preferred embodiments and / or implementation methods for implementing the technology of this application, and are not intended to limit the implementation methods of the technology of this application in any way. Any person skilled in the art may make some modifications or alterations to other equivalent embodiments without departing from the scope of the technical means disclosed in this application, but these should still be regarded as the technology or embodiments that are substantially the same as those of this application.

Claims

1. An automatic collision avoidance system for vehicle steering, characterized in that, The vehicle steering automatic collision avoidance system includes: a vehicle control computer linked to an automatic emergency brake assist system and a vehicle steering automatic collision avoidance system. The automatic emergency brake assist system can provide automatic emergency brake assist information, and the vehicle steering automatic collision avoidance system can provide steering collision avoidance decision information when activated. The vehicle control computer can integrate the automatic emergency brake assist information and the steering collision avoidance decision information.

2. The automatic collision avoidance system for vehicle steering according to claim 1, characterized in that, It also includes an urban or highway judgment intervention module, which provides urban or highway road information, and the vehicle control computer can activate the vehicle steering automatic collision avoidance system based on the urban or highway road information.

3. The automatic collision avoidance system for vehicle steering according to claim 2, characterized in that, The automatic steering collision avoidance system for automobiles includes a vehicle speed and extended turning area determination module, which provides extended turning area determination information.

4. The automatic collision avoidance system for vehicle steering according to claim 3, characterized in that, The automatic collision avoidance system for automobile steering includes a steering system change threshold and tire trajectory prediction module, which provides steering system change threshold information and future vehicle trajectory information.

5. The automatic collision avoidance system for vehicle steering according to claim 4, characterized in that, The automatic steering collision avoidance system for automobiles includes a wide-angle lens activation module, which provides a wide-angle activation signal to a wide-angle lens based on the extended judgment of turning area information and the future movement trajectory information of the vehicle.

6. The automatic collision avoidance system for vehicle steering according to claim 5, characterized in that, This wide-angle lens provides information about wide-angle lenses.

7. The automatic collision avoidance system for vehicle steering according to claim 6, characterized in that, The automatic steering collision avoidance system includes a turning deviation red frame area obstacle judgment module, which provides steering collision avoidance decision information to the vehicle control computer based on the wide-angle lens information and the vehicle's future movement trajectory information.

8. The automatic collision avoidance system for vehicle steering according to claim 2, characterized in that, The urban or highway identification module is a road sign recognition system.

9. The automatic collision avoidance system for vehicle steering according to claim 3, characterized in that, The extended information for determining the turning area includes a turning distance.

10. The automatic collision avoidance system for vehicle steering according to claim 4, characterized in that, The steering system variation threshold information includes a tire rotation direction extension line, a left threshold, and a right threshold.

11. The automatic collision avoidance system for vehicle steering according to claim 10, wherein the vehicle's future movement trajectory information includes a future movement trajectory extension line, a warning box, and a warning area.

12. An automatic collision avoidance method for vehicle steering, characterized in that, The automatic steering collision avoidance method for vehicles includes the following steps: Step S1, a vehicle control computer determines and activates an automatic steering collision avoidance system based on urban or highway road information; Step S2, a vehicle speed and extended turning area determination module provides extended turning area information; Step S3, a steering system change threshold and tire trajectory prediction module 132 provides steering system change threshold information and vehicle future trajectory information; Step S4, based on the determination results of Steps S2 and S3, a wide-angle lens activation module provides a wide-angle activation signal to a wide-angle lens; Step S5, the wide-angle lens provides wide-angle lens information; Step S6, a turning deviation red box area obstacle determination module provides steering collision avoidance decision information to the vehicle control computer based on the wide-angle lens information and the vehicle future trajectory information; Step S7, the vehicle control computer can integrate the steering collision avoidance decision information and automatic emergency braking assistance information provided by an automatic emergency braking assistance system.

13. The automatic collision avoidance method for vehicle steering according to claim 12, characterized in that, The extended information for determining the turning area includes a turning distance, which can vary depending on the vehicle's speed.

14. The automatic collision avoidance method for vehicle steering according to claim 13, characterized in that, The steering system change threshold information includes a tire rotation direction extension line, a left threshold, and a right threshold. The tire rotation direction extension line and the left threshold or the right threshold construct an intersection point. The vehicle is in a turning motion based on the relative position of the intersection point and the turning judgment distance.

15. The automatic collision avoidance method for vehicle steering according to claim 14, characterized in that, The vehicle's future movement trajectory information may include a future movement trajectory extension line, a warning box, and a warning area.

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