CN107161147A - A kind of vehicle collision avoidance cruise control system and its control method - Google Patents

Abstract

The present invention provides a vehicle anti-collision cruise control system and its control method, wherein the control method includes: obtaining the motion state information of the target pedestrian; judging the travel type of the target pedestrian according to the obtained motion state information of the target pedestrian and the real-time driving state of the vehicle ; Control the driving mode of the vehicle according to the traveling type of the target pedestrian. The present invention recognizes the target pedestrians in the surrounding lanes of the vehicle to determine the type of travel of the target pedestrians, and accordingly controls the vehicle to brake or turn to avoid pedestrians, avoid collisions with pedestrians, and improve the safety of cruising; at the same time, When multiple driving modes conflict, according to the level of safety, control is performed according to the driving mode with higher safety level to ensure the safety of pedestrians and vehicles; the invention also uses V2X technology to send congestion and follow-up signals to rear vehicles or traffic control systems, It is used for rear vehicle warning or traffic control system to coordinate and direct traffic.

Description

A vehicle anti-collision cruise control system and control method thereof

technical field

The invention relates to the technical field of automobile safety, in particular to a vehicle anti-collision cruise control system and a control method thereof.

Background technique

With the rapid development of automotive radar, camera and other technologies, more and more manufacturers are applying adaptive cruise control systems to their own models. Among them, the automatic emergency braking system for vehicles and the automatic emergency braking system for pedestrians have been included in the 2018 version of China's new car assessment regulations C-NCAP, which has promoted technological progress and popularized applications.

The current main research and application focus on the collision avoidance and cruise control technology for the front vehicle. For the type of target ahead is a pedestrian, the main technology is to apply collision warning and automatic braking. However, in the working condition of pedestrians traveling along the road, there are few researches and applications on the steering avoidance operation for pedestrians moving forward at low speed, and for pedestrian types. Technical solutions for pedestrian safety.

Contents of the invention

The technical problem to be solved by the present invention is to provide a vehicle anti-collision cruise control system and its control method. By identifying the motion state of pedestrians and judging the driving type, the driving mode of the vehicle is further controlled to improve driving safety.

In order to solve the above technical problems, the present invention provides a control method for a pedestrian anti-collision control system, including:

Obtain the movement state information of the target pedestrian;

According to the obtained target pedestrian's motion status information and the real-time driving status of the vehicle, determine the travel type of the target pedestrian;

Control the driving mode of the vehicle according to the traveling type of the target pedestrian.

Wherein, the motion state information of the target pedestrian includes at least the location and direction of motion of the target pedestrian. According to the acquired motion state information of the target pedestrian and the real-time driving state of the vehicle, the travel type of the target pedestrian is judged, specifically according to the target pedestrian's position, the angle between the direction of movement of the target pedestrian and the direction of travel of the vehicle, and determine the type of travel of the target pedestrian, which includes: crossing the road, traveling along the road, traveling in the opposite direction and away from the vehicle

Wherein, the crossing the road means that when the target pedestrian is on the left side of the vehicle, the angle between the direction of movement and the direction of the vehicle is (0°, 180°), or when the target pedestrian is on the right side of the vehicle, the direction of movement of the target pedestrian is at the same angle as the direction of the vehicle. The angle between the driving direction of the vehicle is (180˚, 360˚);

Said traveling along the road means that the angle between the direction of motion of the target pedestrian and the direction of travel of the vehicle is 0°;

The reverse travel means that the angle between the direction of motion of the target pedestrian and the direction of travel of the vehicle is 180°;

The distance from the vehicle refers to the angle between the direction of motion of the target pedestrian and the driving direction of the vehicle when the target pedestrian is on the left side of the vehicle, or the target pedestrian is on the right side of the vehicle or on the right side of the vehicle. On the sidewalk, the angle between its moving direction and the driving direction of the vehicle is (0˚, 180˚).

Wherein, the control of the driving mode of the vehicle according to the driving type of the target pedestrian specifically includes:

When the target pedestrian is in the left lane of the vehicle, or the right lane, or the right sidewalk, if the travel type of the target pedestrian is any type of traveling along the road, traveling in the opposite direction, or away from the vehicle, control the vehicle to keep adapting cruise status.

Wherein, the control of the driving mode of the vehicle according to the driving type of the target pedestrian specifically includes:

When the travel type of the target pedestrian is crossing the road, it is further judged whether the target pedestrian is in danger of colliding with the vehicle, and if so, the vehicle is controlled to perform emergency braking, and if not, the vehicle is controlled to steer to avoid and issue a warning to the target pedestrian.

Wherein, the control of the driving mode of the vehicle according to the driving type of the target pedestrian specifically includes:

When the target pedestrian is in the vehicle lane, if the target pedestrian is traveling along the road, control the vehicle to cruise at low speed or turn to avoid, if the target pedestrian is traveling in the opposite direction, control the vehicle to brake or turn to avoid .

Wherein, the control of the driving mode of the vehicle according to the driving type of the target pedestrian specifically includes:

When the target pedestrian is in the lane of the vehicle, if the travel type of the target pedestrian is away from the vehicle, the vehicle is controlled to maintain the adaptive cruise state.

Wherein, the control method further includes acquiring the surrounding traffic condition information of the own vehicle, and performing control in combination with the surrounding traffic condition information of the own vehicle when the vehicle turns to avoid collision, so as to avoid collisions with other traffic participants.

Among them, when the travel type of each target pedestrian is determined according to the acquired motion state information of multiple target pedestrians, the driving mode of the vehicle is controlled according to the preset safety level. : Emergency braking, steering avoidance, low-speed cruise, adaptive cruise.

Wherein, the control method also includes:

Obtain information about the traffic lights ahead of the vehicle, and control the braking of the vehicle to stop before the vehicle stop line when the traffic light changes from green to amber or red; or/and

Obtain the traffic condition information around the vehicle, and send the traffic condition information around the vehicle to the vehicles behind the vehicle through V2X technology for early warning of vehicles behind; or send the traffic condition information around the vehicle to the traffic management system through V2X technology for traffic Manage system command or dispatch.

An embodiment of the present invention also provides a vehicle anti-collision cruise control system, including:

Pedestrian state sensor, used to obtain target pedestrian motion state information;

The main controller is used to judge the traveling type of the target pedestrian according to the acquired motion state information of the target pedestrian and the real-time driving state of the vehicle, and control the driving mode of the vehicle according to the traveling type of the target pedestrian.

Wherein, the pedestrian state sensor is specifically used to obtain the position and direction of movement of the target pedestrian, and the main controller is specifically used to determine the target pedestrian's position and the direction of movement of the target pedestrian according to the angle between the position of the target pedestrian and the direction of movement of the target pedestrian and the driving direction of the vehicle. The travel type of the pedestrian, the travel type includes: crossing the road, traveling along the road, traveling in the opposite direction and away from the vehicle,

Wherein, the crossing the road means that when the target pedestrian is on the left side of the vehicle, the angle between the direction of movement and the direction of the vehicle is (0°, 180°), or when the target pedestrian is on the right side of the vehicle, the direction of movement of the target pedestrian is at the same angle as the direction of the vehicle. The angle between the driving direction of the vehicle is (180˚, 360˚);

Said traveling along the road means that the angle between the direction of motion of the target pedestrian and the direction of travel of the vehicle is 0°;

The reverse travel means that the angle between the direction of motion of the target pedestrian and the direction of travel of the vehicle is 180°;

The distance from the vehicle refers to the angle between the direction of motion of the target pedestrian and the driving direction of the vehicle when the target pedestrian is on the left side of the vehicle, or the target pedestrian is on the right side of the vehicle or on the right side of the vehicle. On the sidewalk, the angle between its moving direction and the driving direction of the vehicle is (0˚, 180˚).

Wherein, the control system also includes a multi-radar system and a multi-camera system, both of which are used to obtain information on vehicles, pedestrians, traffic lights, and road traffic signs around the vehicle, and perform fusion processing on the obtained information. The multi-radar system Including the front radar installed in front of the vehicle and the millimeter-wave angle radar installed in the front and rear corners of the vehicle, the multi-camera system includes a front camera installed on the windshield, and installed on both sides of the rearview mirror and the rear of the vehicle corner camera.

Wherein, the pedestrian state sensor is integrated in a multi-radar system or a multi-camera system.

Wherein, the main controller is further configured to control the vehicle to brake to stop in front of the vehicle stop line when the traffic signal light changes from green to yellow or red according to the acquired traffic signal light information ahead of the vehicle.

Wherein, the control system also includes:

The vehicle electronic stability system is used to execute the braking command of the vehicle;

The steering wheel angle sensor is used to provide the steering angle signal of the vehicle, and judge the steering angle of the electric power steering system through the signal;

The engine controller is used to receive commands from the main controller, control the engine throttle and torque, control the acceleration of the vehicle and engine braking and deceleration;

The gearbox controller is used to provide the driver's driving mode and gear information, and control the vehicle to add or subtract gears;

The electric power steering system is used to provide torque parameters and receive commands from the main controller to control steering wheel steering.

Wherein, the control system also includes:

The wireless transceiver module is used to send the surrounding traffic status information of the vehicle to the vehicles behind the vehicle or the traffic management system through the V2X technology.

Wherein, the main controller is also used to control the driving mode of the vehicle according to the preset safety level, and the driving mode of the vehicle in descending order of safety level is: emergency braking, steering avoidance, low-speed cruising, and adaptive cruising.

The beneficial effects of the embodiments of the present invention are:

By acquiring the movement state information of the target pedestrian, identify the target pedestrian in each lane around the vehicle, determine the travel type of the target pedestrian, and accordingly control the vehicle to brake or turn to avoid the pedestrian, avoid collision with the pedestrian, and improve the efficiency of cruising. Safety; or control the car to follow pedestrians at low speed, stop and other operations, and improve driving comfort without affecting safety;

At the same time, when there is a conflict between multiple driving modes, according to the level of safety, the control is executed according to the driving mode with a higher safety level to ensure the safety of pedestrians and vehicles;

The present invention also utilizes V2X technology to send congestion and car-following signals to the rear vehicles or the traffic control system, which is used for the rear vehicles to clearly understand the traffic information ahead, facilitates the rear vehicles to control the distance between vehicles and the forward movement, and is used for the traffic control system to coordinate and direct traffic, and can This signal is applied to vehicle platooning control.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic diagram of the principle of a vehicle anti-collision cruise control system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a logical relationship between signal sending and receiving in an embodiment of the present invention.

FIG. 3 is a schematic flowchart of a vehicle anti-collision cruise control method according to Embodiment 2 of the present invention.

FIG. 4 is a schematic diagram of the principle of a vehicle anti-collision cruise control method according to Embodiment 2 of the present invention.

FIG. 5 is a schematic flowchart of a vehicle anti-collision cruise control method according to Embodiment 2 of the present invention.

detailed description

The following descriptions of various embodiments refer to the accompanying drawings to illustrate specific embodiments in which the present invention can be implemented.

Please refer to Fig. 1 and Fig. 2 at the same time, an embodiment of the present invention, a vehicle anti-collision cruise control system mainly includes the following components: vehicle electronic stability system ESP, steering wheel angle sensor SAS, engine control system EMS, speed change Box control system TCU, electric power steering system EPS, system switch, body controller BCM, system main controller, wireless transceiver module, multi-radar system (front radar installed in front of the vehicle and millimeter-wave angle radar on the front and rear corners of the vehicle ), multi-camera system (installed on both sides of the windshield and rear-view mirror and at the rear of the car), of which:

Vehicle electronic stability system ESP: mainly used to execute the braking command of the vehicle;

Steering wheel angle sensor SAS: mainly used to provide the steering angle signal of the vehicle, and use this signal to make a judgment on the EPS steering angle of the electric power steering system;

Engine controller EMS: EMS receives commands from the main controller of the system, controls engine throttle and torque, controls vehicle acceleration and engine braking deceleration;

Transmission controller TCU: used to provide the driver's driving mode and gear information, and control the vehicle's gear addition and subtraction;

Electric power steering system EPS: used to provide torque and other parameters, and receive commands from the main controller of the system to perform steering wheel steering control;

System switch: used to turn on and off the anti-collision cruise control system of the vehicle;

Body controller BCM: used to send the system switch signal to the CAN bus;

Wireless transceiver module: used to send the surrounding traffic status information of the vehicle to the vehicles behind the vehicle or the traffic management system;

System main controller: used to receive signals, make logical judgments, and send corresponding control commands to ESP to control braking, EPS to control steering, and corresponding low-speed cruise, follow, follow and stop controls;

The multi-radar and multi-camera system is used to obtain the environmental information around the vehicle, and fuse the acquired information to improve the utilization rate of the data. The data fusion of the two can identify vehicles, pedestrians, traffic lights and road traffic signs. And it can identify the lane line and surrounding objects, and send the target pedestrian's motion status information to the main controller of the system.

Please refer to FIG. 3 again. Embodiment 2 of the present invention provides a vehicle anti-collision cruise control method, including:

Obtain the movement state information of the target pedestrian;

According to the obtained target pedestrian's motion status information and the real-time driving status of the vehicle, determine the travel type of the target pedestrian;

Control the driving mode of the vehicle according to the traveling type of the target pedestrian.

A specific description will be given below in conjunction with FIG. 4 and FIG. 5 .

Acquiring the motion state information of the target pedestrian is specifically obtaining the location and motion direction of the target pedestrian. The acquisition method is through a pedestrian state sensor as shown in FIG. 2 . The pedestrian state sensor can be integrated in a multi-radar system or a multi-camera system, for example, set in a front radar or a front camera. Of course, pedestrian status sensors can also be installed in traffic facilities on both sides of the road.

The initial pedestrian positions are divided into three types: left, center, and right, which correspond to ①, ②, and ③, respectively, as shown in Figure 4. The pedestrian status sensor can identify pedestrians on the sidewalk on the right side of the vehicle or the right lane, pedestrians on the lane of the vehicle and pedestrians on the left side of the vehicle. Line and other information to make a judgment on the motion state of the target pedestrian, that is, to judge the travel type of the target pedestrian based on the position of the target pedestrian, the angle α between the target pedestrian’s motion direction and the vehicle’s driving direction. In this embodiment, the traveling type includes: crossing the road, traveling along the road, traveling in the opposite direction, and moving away from the vehicle. It should be noted that the angle α between the target pedestrian's moving direction and the driving direction of the own vehicle is an angle formed by taking the driving direction of the own vehicle as the starting coordinate axis and rotating clockwise. For example, as shown in Figure 4, the pedestrian ③ in the left lane of the vehicle, whose movement direction is obliquely upward to the right, and the included angle α with the driving direction of the vehicle is (0°, 180°), that is, 0°<α<180 ˚; if its moving direction is obliquely upward to the left, the angle α with the driving direction of the vehicle is (180˚, 360˚), that is, 180˚<α<360˚.

Specifically, in this embodiment, crossing the road means that when the target pedestrian is on the left side of the vehicle, the angle between the moving direction of the target pedestrian and the driving direction of the vehicle is (0°, 180°), or that the target pedestrian is on the right side of the vehicle. The angle between the direction of motion and the driving direction of the vehicle is (180˚, 360˚);

Traveling along the road means that the angle between the target pedestrian's movement direction and the vehicle's driving direction is 0°;

Reverse travel means that the angle between the direction of movement of the target pedestrian and the direction of travel of the vehicle is 180˚;

Far away from the vehicle means that when the target pedestrian is in the left lane of the vehicle, the angle between the direction of movement and the direction of the vehicle is (180˚, 360˚), or when the target pedestrian is in the right lane of the vehicle or the right sidewalk The angle between its moving direction and the driving direction of the vehicle is (0˚, 180˚).

When the target pedestrian is on the left lane of the vehicle, or on the right lane, or on the sidewalk on the right, it means that the target pedestrian is not in the lane of the vehicle, but on both sides of the lane of the vehicle. If the travel type of the target pedestrian is any type of traveling along the road, traveling in the opposite direction, or away from the vehicle, the vehicle is controlled to maintain the adaptive cruising state. , for example, as shown in Figure 4, the target pedestrians ① or ③ located in the adjacent lanes on the left and right sides of the vehicle respectively travel vertically upward in their respective lanes (the driving direction of the vehicle is also vertically upward); reverse Moving means that the angle between the moving direction of the target pedestrian and the driving direction of the vehicle is 180°. Moving in the downward direction; away from the vehicle means that when the target pedestrian is in the left lane of the vehicle, the angle between the movement direction and the direction of the vehicle is (180˚, 360˚), for example, the pedestrian on the left side of the vehicle as shown in Figure 4 The target pedestrian on the roadway ③ is moving to the left; or the angle between the direction of movement of the target pedestrian and the direction of the car is (0˚, 180˚) when the target pedestrian is on the right side of the vehicle or on the right sidewalk, as shown in Fig. The target pedestrian ① in the right lane of the vehicle shown in 4 is traveling to the right. In these cases, the target pedestrian is on both sides of the vehicle's lane, and its moving direction will not intersect with the driving direction of the vehicle, will not affect the driving of the vehicle, and there is no risk of collision, therefore, continue the original vehicle There is cruise control.

When the travel type of the target pedestrian is crossing the road, it is possible to collide with the vehicle. Therefore, it is necessary to further determine whether the target pedestrian is in danger of colliding with the vehicle. If so, control the vehicle for emergency braking. If not, control the vehicle Turn to avoid and issue a warning to the target pedestrian. According to the location of the target pedestrian, when judging the type of crossing the road, the angle between the target pedestrian's movement direction and the vehicle's driving direction is also different. Specifically: the target pedestrian When it is on the left side of the vehicle, the angle between its moving direction and the driving direction of the vehicle is (0°, 180°), that is, 0°<α<180°, then it is judged that the traveling type of the target pedestrian is crossing the road, as shown in Figure 4 The target pedestrian ③ in the left lane of the vehicle is moving to the right; when the target pedestrian is on the right side of the vehicle, the angle between the direction of movement and the direction of the vehicle is (180˚, 360˚), that is, 180° ˚<α<360˚, then it is judged that the travel type of the target pedestrian is crossing the road. For example, the target pedestrian ① in the right lane of the vehicle shown in Figure 4 is traveling to the left. It can be understood that the above-mentioned target pedestrian is located on the left side of the vehicle, and may be located in the left lane of the vehicle or on the left side of the vehicle in the vehicle lane; the target pedestrian is located on the right side of the vehicle, and may be located on the right side of the vehicle. The side lane is either on the sidewalk on the right side of the vehicle, or on the right side of the vehicle in the lane of the vehicle.

When the target pedestrian is in the vehicle lane, if the target pedestrian is traveling along the road, control the vehicle to cruise at low speed or turn to avoid, if the target pedestrian is traveling in the opposite direction, control the vehicle to brake or turn to avoid , where, moving along the road means that the angle between the target pedestrian’s moving direction and the driving direction of the own vehicle is 0°, and traveling in the opposite direction means that the angle between the target pedestrian’s moving direction and the driving direction of the own vehicle is 180°. The target pedestrian ② in the driving lane travels in the vertical upward or vertical downward direction in the own vehicle driving lane. Furthermore, when the target pedestrian is directly in front of the vehicle, if it is judged that the pedestrian is faster, the vehicle is controlled to follow the pedestrian in low-speed cruise (when the pedestrian is stationary, the vehicle stops; when the pedestrian moves forward, the vehicle follows), such The type is used in scenes such as downtown areas. If the pedestrian is not directly in front of the vehicle, the vehicle is controlled to steer to avoid.

When the target pedestrian is in the lane of the vehicle, if the travel type of the target pedestrian is away from the vehicle, the vehicle is controlled to maintain the adaptive cruising state, wherein, away from the vehicle means that when the target pedestrian is on the left side of the vehicle, its movement direction is the same as that of the vehicle. The angle between the driving direction of the vehicle is (180˚, 360˚). For example, the target pedestrian ② in the vehicle’s lane as shown in Figure 4 moves to the left; or when the target pedestrian is on the right side of the vehicle, its movement direction is The angle between the driving direction of the vehicle is (0°, 180°), for example, the target pedestrian ② in the driving lane of the vehicle shown in Figure 4 is moving to the right.

It should be noted that if the motion state information of multiple target pedestrians is obtained, and the travel types of different target pedestrians are also different, there are differences in the preset safety levels for controlling the driving mode of the own vehicle. Specifically, as mentioned above, if the travel type of the target pedestrian 1 is to travel along the road on the left side of the vehicle, in this case the vehicle should maintain the adaptive cruising mode; if the target pedestrian 2 is also in the The right lane of the vehicle crosses the road. In this case, the driving mode of the vehicle should be emergency braking or steering avoidance. Then the driving mode of the vehicle according to the driving type of the target pedestrian 1 is obviously different from that of the target pedestrian 2. The driving mode adopted by the vehicle produces a conflict. In order to solve this conflict, this embodiment adopts safety level settings for the control of the driving mode of the vehicle, with the highest safety level being the most avoidable collision. . Specifically, the driving modes of the vehicle are in descending order of safety level: emergency braking, steering avoidance, low-speed cruising, and adaptive cruising. Therefore, in the preceding example, the driving mode of the vehicle should be controlled according to the driving type of the target pedestrian 2, that is, emergency braking or steering avoidance (the safety level is higher than that of adaptive cruise).

Further, when controlling the vehicle to avoid collision, in addition to considering not to collide with the target pedestrian, in order to further improve safety, it is also necessary to consider the risk of collision with other traffic participants. Therefore, it is necessary to obtain the surrounding traffic status information of the vehicle, And when the vehicle turns to avoid avoidance, it is controlled in combination with the surrounding traffic condition information of the vehicle, so as to avoid collisions with other traffic participants.

In addition, the multi-radar system or multi-camera system can also obtain the information of the traffic lights in front of the vehicle, and when the traffic lights change from green to yellow or red, control the braking of the vehicle to stop in front of the vehicle stop line. This can avoid violating traffic lights such as running a red light when cruising at a low speed to follow a target pedestrian.

At the same time, through the multi-radar system or multi-camera system, the surrounding traffic condition information of the vehicle can also be obtained, and the V2X technology can be used to send the surrounding traffic condition information (mainly the follow-up signal) to the vehicle behind the vehicle through the wireless transceiver module. Early warning for vehicles in the rear; or send traffic status information (mainly congestion signals) around the vehicle to the traffic management system for traffic management system command or dispatch.

Based on Embodiment 2 of the present invention, Embodiment 1 of the present invention provides a vehicle anti-collision cruise control system, including:

Pedestrian state sensor, used to obtain target pedestrian motion state information;

The main controller is used to judge the traveling type of the target pedestrian according to the acquired motion state information of the target pedestrian and the real-time driving state of the vehicle, and control the driving mode of the vehicle according to the traveling type of the target pedestrian.

Among them, the pedestrian state sensor is specifically used to obtain the location and direction of movement of the target pedestrian, and the main controller is specifically used to judge the travel type of the target pedestrian according to the location of the target pedestrian, the angle between the direction of movement of the target pedestrian and the driving direction of the vehicle , the travel types include: crossing the road, traveling along the road, traveling in the opposite direction, and moving away from the vehicle.

Wherein, the crossing the road means that when the target pedestrian is on the left side of the vehicle, the angle between the direction of movement and the direction of the vehicle is (0°, 180°), or when the target pedestrian is on the right side of the vehicle, the direction of movement of the target pedestrian is at the same angle as the direction of the vehicle. The angle between the driving direction of the vehicle is (180˚, 360˚);

Said traveling along the road means that the angle between the direction of motion of the target pedestrian and the direction of travel of the vehicle is 0°;

The reverse travel means that the angle between the direction of motion of the target pedestrian and the direction of travel of the vehicle is 180°;

The distance from the vehicle refers to the angle between the direction of motion of the target pedestrian and the driving direction of the vehicle when the target pedestrian is on the left side of the vehicle, or the target pedestrian is on the right side of the vehicle or on the right side of the vehicle. On the sidewalk, the angle between its moving direction and the driving direction of the vehicle is (0˚, 180˚).

The vehicle anti-collision cruise control system of this embodiment also includes a multi-radar system and a multi-camera system, both of which are used to acquire information about vehicles, pedestrians, traffic lights, and road traffic signs around the vehicle, and perform fusion processing on the acquired information. The multi-radar system includes the front radar installed in front of the vehicle and the millimeter-wave angle radar installed at the front and rear corners of the vehicle. Corner camera at the rear. The corner radar and corner camera are mainly used to judge whether the surrounding environment of the vehicle allows steering. Pedestrian status sensors are integrated in multi-radar systems or multi-camera systems.

The main controller controls the driving mode of the vehicle according to the determined travel type of the target pedestrian, which is realized through several main control devices, including:

Vehicle electronic stability system ESP, used to execute the braking command of the vehicle;

The steering wheel angle sensor SAS is used to provide the steering angle signal of the vehicle, and judge the EPS steering angle of the electric power steering system through the signal;

The engine controller EMS is used to receive commands from the main controller, control the engine throttle and torque, control the acceleration of the vehicle and engine braking and deceleration;

The transmission controller TCU is used to provide the driver's driving mode and gear position information, and control the vehicle to increase or decrease the gear position;

The electric power steering system EPS is used to provide torque parameters and receive commands from the main controller to control steering wheel steering.

In addition, it also includes a system switch, which is used to turn on and off the anti-collision cruise control system of the vehicle; and a body controller BCM, which is used to send the system switch signal to the CAN bus.

The control system of this embodiment is also equipped with a wireless transceiver module, which is used to send the traffic condition information around the vehicle to the vehicles behind the vehicle or the traffic management system through the V2X technology.

It can be seen from the above description that the beneficial effects of the embodiments of the present invention are:

By acquiring the movement state information of the target pedestrian, identify the target pedestrian in each lane around the vehicle, determine the travel type of the target pedestrian, and accordingly control the vehicle to brake or turn to avoid the pedestrian, avoid collision with the pedestrian, and improve the efficiency of cruising. Safety; or control the car to follow pedestrians at low speed, stop and other operations, and improve driving comfort without affecting safety;

At the same time, when there is a conflict between multiple driving modes, according to the level of safety, the control is executed according to the driving mode with a higher safety level to ensure the safety of pedestrians and vehicles;

The present invention also utilizes V2X technology to send congestion and car-following signals to the rear vehicles or the traffic control system, which is used for the rear vehicles to clearly understand the traffic information ahead, facilitates the rear vehicles to control the distance between vehicles and the forward movement, and is used for the traffic control system to coordinate and direct traffic, and can This signal is applied to vehicle platooning control.

The above disclosures are only preferred embodiments of the present invention, and certainly cannot limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims (17)

1. A vehicle anti-collision cruise control method, comprising: Obtain the movement state information of the target pedestrian; According to the obtained target pedestrian's motion status information and the real-time driving status of the vehicle, determine the travel type of the target pedestrian; Control the driving mode of the vehicle according to the traveling type of the target pedestrian. 2. The control method according to claim 1, wherein the target pedestrian motion state information includes at least the target pedestrian's location and motion direction, and the acquired target pedestrian motion state information and the vehicle's real-time driving state , to determine the travel type of the target pedestrian, specifically according to the position of the target pedestrian, the angle between the direction of motion of the target pedestrian and the travel direction of the vehicle, to determine the travel type of the target pedestrian, the travel type includes: crossing the road, traveling along the road, reverse travel to and from the vehicle, Wherein, the crossing the road means that when the target pedestrian is on the left side of the vehicle, the angle between the direction of movement of the target pedestrian and the direction of the vehicle is (0°, 180°), or when the target pedestrian is on the right side of the vehicle, the direction of movement of the target pedestrian is at the same angle as the direction of the vehicle. The angle between the driving direction of the vehicle is (180˚, 360˚); Said traveling along the road means that the angle between the direction of movement of the target pedestrian and the direction of travel of the vehicle is 0°; The reverse travel means that the angle between the direction of motion of the target pedestrian and the direction of travel of the vehicle is 180°; The distance from the vehicle refers to the angle between the direction of motion of the target pedestrian and the driving direction of the vehicle when the target pedestrian is on the left side of the vehicle, or the target pedestrian is on the right side of the vehicle or on the right side of the vehicle. On the sidewalk, the angle between its moving direction and the driving direction of the vehicle is (0˚, 180˚). 3. The control method according to claim 2, wherein the controlling the driving mode of the vehicle according to the driving type of the target pedestrian specifically includes: When the target pedestrian is in the left lane of the vehicle, or the right lane, or the right sidewalk, if the travel type of the target pedestrian is any type of traveling along the road, traveling in the opposite direction, or away from the vehicle, control the vehicle to keep adapting cruise status. 4. The control method according to claim 2, wherein the controlling the driving mode of the vehicle according to the driving type of the target pedestrian specifically includes: When the travel type of the target pedestrian is crossing the road, it is further judged whether the target pedestrian is in danger of colliding with the vehicle, and if so, the vehicle is controlled to perform emergency braking, and if not, the vehicle is controlled to steer to avoid and issue a warning to the target pedestrian. 5. The control method according to claim 2, wherein the controlling the driving mode of the vehicle according to the driving type of the target pedestrian specifically includes: When the target pedestrian is in the vehicle lane, if the target pedestrian is traveling along the road, control the vehicle to cruise at low speed or turn to avoid, if the target pedestrian is traveling in the opposite direction, control the vehicle to brake or turn to avoid . 6. The control method according to claim 2, wherein the controlling the driving mode of the vehicle according to the driving type of the target pedestrian specifically includes: When the target pedestrian is in the lane of the vehicle, if the travel type of the target pedestrian is away from the vehicle, the vehicle is controlled to maintain the adaptive cruise state. 7. The control method according to claim 4 or 5, characterized in that, it also includes acquiring the surrounding traffic condition information of the vehicle, and performing control in combination with the surrounding traffic condition information of the vehicle when the vehicle turns to avoid, so as to avoid collision with other traffic conditions. Participants collide. 8. The control method according to any one of claims 1-6, characterized in that, when the travel type of each target pedestrian is judged according to the acquired movement state information of multiple target pedestrians, then according to the preset safety level Control the driving mode of the vehicle. According to the safety level, the driving mode of the vehicle is as follows: emergency braking, steering avoidance, low-speed cruising, and adaptive cruising. 9. The control method according to any one of claims 1-6, further comprising: Obtain information about the traffic lights ahead of the vehicle, and control the braking of the vehicle to stop before the vehicle stop line when the traffic light changes from green to amber or red; or/and Obtain the traffic condition information around the vehicle, and send the traffic condition information around the vehicle to the vehicles behind the vehicle through V2X technology for early warning of vehicles behind; or send the traffic condition information around the vehicle to the traffic management system through V2X technology for traffic Manage system command or dispatch. 10. A vehicle anti-collision cruise control system, characterized in that it comprises: Pedestrian state sensor, used to obtain target pedestrian motion state information; The main controller is used to judge the traveling type of the target pedestrian according to the acquired motion state information of the target pedestrian and the real-time driving state of the vehicle, and control the driving mode of the vehicle according to the traveling type of the target pedestrian. 11. The control system according to claim 10, wherein the pedestrian state sensor is specifically used to obtain the location and direction of movement of the target pedestrian, and the main controller is specifically used to obtain The angle between the direction of pedestrian movement and the direction of travel of the vehicle is used to determine the travel type of the target pedestrian. The travel types include: crossing the road, traveling along the road, traveling in the opposite direction, and moving away from the vehicle. Wherein, the crossing the road means that when the target pedestrian is on the left side of the vehicle, the angle between the direction of movement and the direction of the vehicle is (0°, 180°), or when the target pedestrian is on the right side of the vehicle, the direction of movement of the target pedestrian is at the same angle as the direction of the vehicle. The angle between the driving direction of the vehicle is (180˚, 360˚); Said traveling along the road means that the angle between the direction of motion of the target pedestrian and the direction of travel of the vehicle is 0°; The reverse travel means that the angle between the direction of motion of the target pedestrian and the direction of travel of the vehicle is 180°; The distance from the vehicle refers to the angle between the direction of motion of the target pedestrian and the driving direction of the vehicle when the target pedestrian is on the left side of the vehicle, or the target pedestrian is on the right side of the vehicle or on the right side of the vehicle. On the sidewalk, the angle between its moving direction and the driving direction of the vehicle is (0˚, 180˚). 12. The control system according to claim 10, characterized in that, it also includes a multi-radar system and a multi-camera system, both of which are used to acquire information about vehicles, pedestrians, traffic lights, and road traffic signs around the vehicle, and the acquired The information is fused and processed. The multi-radar system includes a front radar installed in front of the vehicle and millimeter-wave angle radars installed at the front and rear corners of the vehicle. The multi-camera system includes a front camera installed on the windshield, and an installation Corner cameras on both sides of the rearview mirror and at the rear of the vehicle. 13. The control system according to claim 12, wherein the pedestrian state sensor is integrated into a multi-radar system or a multi-camera system. 14. The control system according to claim 12, characterized in that, the main controller is also used to control the vehicle when the traffic signal light changes from green to yellow or red according to the acquired traffic signal light information in front of the vehicle. brake to stop before the vehicle stop line. 15. The control system according to claim 10, further comprising: The vehicle electronic stability system is used to execute the braking command of the vehicle; The steering wheel angle sensor is used to provide the steering angle signal of the vehicle, and judge the steering angle of the electric power steering system through the signal; The engine controller is used to receive commands from the main controller, control the engine throttle and torque, control the acceleration of the vehicle and engine braking and deceleration; The gearbox controller is used to provide the driver's driving mode and gear information, and control the vehicle to add or subtract gears; The electric power steering system is used to provide torque parameters and receive commands from the main controller to control steering wheel steering. 16. The control system according to claim 10, further comprising: The wireless transceiver module is used to send the surrounding traffic status information of the vehicle to the vehicles behind the vehicle or the traffic management system through the V2X technology. 17. The control system according to any one of claims 10-16, characterized in that the main controller is also used to control the driving mode of the vehicle according to the preset safety level, and the driving mode of the vehicle is from high to high according to the safety level. The sequence from low to low is: emergency braking, steering avoidance, low-speed cruise, and adaptive cruise.