技术领域technical field
本发明涉及汽车安全技术领域，尤其涉及一种融合近距离探测系统的自适应巡航系统。The invention relates to the technical field of automobile safety, in particular to an adaptive cruise system integrated with a short-distance detection system.
背景技术Background technique
随着国际国内各大汽车企业陆续开发并推出主动安全功能，包括自适应巡航系统、自动紧急制动系统、车道保持辅助系统等。根据最新调查，自适应巡航系统是用户感知价值较高的功能，且用户对与该功能的使用有较高的需求。With the development and introduction of active safety functions by major international and domestic automobile companies, including adaptive cruise system, automatic emergency braking system, lane keeping assist system and so on. According to the latest survey, the adaptive cruise system is a function with high perceived value by users, and users have a high demand for the use of this function.
自适应巡航系统的使用安全性始终是一个需要不断提升的技术问题，需要考虑各种工况，研究功能的便利性和使用的安全性，使两者达到平衡，保证尽可能安全的前提下让用户的使用感受达到最好。The use safety of the adaptive cruise system is always a technical issue that needs to be continuously improved. It is necessary to consider various working conditions, study the convenience of functions and the safety of use, so as to achieve a balance between the two, and ensure that the safety is as safe as possible. The user experience is the best.
自适应巡航系统的工作状态主要分有以下几个部分：关闭、待机、激活、故障；其中：The working status of the adaptive cruise system is mainly divided into the following parts: off, standby, active, fault; among them:
关闭：系统处于关闭状态，驾驶员无法对功能参数进行调整；Off: the system is off, and the driver cannot adjust the function parameters;
待机：系统处于开启状态，但是自适应巡航功能未对车辆进行纵向控制；Standby: The system is on, but the adaptive cruise function does not control the vehicle longitudinally;
激活：驾驶员通过激活按键激活系统，自适应巡航系统能够对自车进行纵向控制。在激活状态下，自适应巡航系统针对几种状态，会作以下操控：若无前车时，自适应巡航系统会按驾驶员设定的车速匀速行驶。若跟随前车行驶，且前车车速小于自车车速，自适应巡航系统会控制车辆与前车保持设定的车间时距跟随形式。若前车趋停，自适应巡航系统能够跟随前车到停，并最终保持两车的安全车距。跟随前车到停后，若前车起步，自车能够自动或在驾驶员确认的情况下跟随前车起步；Activation: The driver activates the system by activating the button, and the adaptive cruise system can control the vehicle longitudinally. In the active state, the adaptive cruise system will perform the following operations for several states: If there is no vehicle in front, the adaptive cruise system will drive at a constant speed set by the driver. If following the vehicle in front, and the speed of the vehicle in front is lower than the speed of the vehicle in front, the adaptive cruise control system will control the vehicle and the vehicle in front to maintain the set head-to-head following mode. If the vehicle in front is approaching a stop, the adaptive cruise control system can follow the vehicle in front to stop, and finally maintain a safe distance between the two vehicles. After following the vehicle in front to stop, if the vehicle in front starts, the self-vehicle can follow the vehicle in front and start automatically or with the confirmation of the driver;
故障：自使用巡航系统的传感器出现软硬件故障或执行关联系统出现故障。Fault: The sensor used by the cruise system has a software and hardware failure or a failure in the implementation of the associated system.
目前，自适应巡航系统的传感器主要是中距离雷达或长距离雷达或摄像头。其中，中距离雷达或长距离雷达虽然对于车辆前方较远的距离(例如160米)具有较高的探测精度，然后由于其本身硬件特性的限制，对车辆前方静距离(约5米范围内)环境的探测精度并不高，在车辆前方约5米范围内存在探测盲区。摄像头虽然可以探测到车辆前方100米左右的环境，然而由于其安装位置的原因(通常安装在前挡风玻璃上方)，在车辆前舱盖前面存在探测盲区。也就是说，目前的自适应巡航系统传感器均存在在车辆前方近距离范围内存在探测盲区的问题，因此在自适应巡航使用过程中在一些特殊的工况下无法正常判断车辆前方工况，从而导致功能为了保证安全性而不得不丧失一些便利性和舒适性。At present, the sensors of the adaptive cruise system are mainly medium-range radar or long-range radar or cameras. Among them, although the medium-range radar or the long-range radar has a high detection accuracy for a long distance in front of the vehicle (for example, 160 meters), due to the limitation of its own hardware characteristics, the static distance in front of the vehicle (within about 5 meters) The detection accuracy of the environment is not high, and there is a detection blind zone within about 5 meters in front of the vehicle. Although the camera can detect the environment about 100 meters ahead of the vehicle, due to its installation location (usually installed above the front windshield), there is a detection blind spot in front of the front hatch of the vehicle. That is to say, the current adaptive cruise system sensors all have the problem of detecting blind spots in the short range in front of the vehicle. Therefore, during the use of adaptive cruise, it is impossible to normally judge the working conditions in front of the vehicle under some special working conditions, thus As a result, the function has to lose some convenience and comfort in order to ensure safety.
例如，在上述自适应巡航“激活”状态中，在“跟随前车到停后，若前车起步，自车能够自动或在驾驶员确认的情况下跟随前车起步”的状况下，在交通路况极其复杂，特别是在城郊道路，行人、自行车、电瓶车和摩托车穿行于马路上，当车辆在自适应巡航功能控制下跟随前车到停后，此时自车与前车中间极有可能出现行人、自行车、摩托车等，自车若自动跟随前车起步，则会与前方道路使用者发生碰撞。For example, in the above-mentioned "activated" state of adaptive cruise control, under the condition of "following the vehicle in front to stop, if the vehicle in front starts, the ego vehicle can follow the vehicle in front and start automatically or with the confirmation of the driver", in traffic The road conditions are extremely complex, especially on suburban roads, where pedestrians, bicycles, battery cars, and motorcycles are passing through the road. When the vehicle follows the vehicle in front to stop under the control of the adaptive cruise function, it is very likely that the vehicle in the middle of the vehicle and the vehicle in front will stop. In the presence of pedestrians, bicycles, motorcycles, etc., if the vehicle starts automatically following the vehicle in front, it will collide with the road users in front.
传统的规避该风险的策略为，当后车跟随前车到停时，3秒内前车起步，后车能够自动跟随起步，若前车在3秒后起步，后车则不会自动跟随起步，而需要驾驶员确认后才能起步，其中，3秒时间可以根据实际情况调整。3秒内，也有可能在后车与前车间出现行人，若将3秒调整成0秒，则每次驾驶员均需要在前车起步后，再通过按键或油门进行起步，这又极大降低驾驶员使用的舒适性。The traditional strategy to avoid this risk is that when the car behind follows the car in front to stop, the car in front starts within 3 seconds, and the car behind can automatically follow and start. If the car in front starts after 3 seconds, the car behind will not automatically follow and start , and it needs to be confirmed by the driver before it can start. Among them, the 3 seconds can be adjusted according to the actual situation. Within 3 seconds, pedestrians may also appear in the rear car and the front workshop. If 3 seconds is adjusted to 0 seconds, the driver needs to start the front car every time, and then press the button or accelerator to start, which greatly reduces the Driver's comfort.
因此传统的解决方案，并不能从本质上规避上述危险的出现，并且传统的解决方案，将极大影响驾驶员使用的便利性和舒适性。Therefore traditional solutions can not essentially avoid the occurrence of the above-mentioned dangers, and traditional solutions will greatly affect the convenience and comfort of the driver's use.
发明内容Contents of the invention
有鉴于此，本发明提供了一种即可有效规避碰撞风险又不会影响驾驶便利性和舒适性的融合近距离探测系统的自适应巡航系统。In view of this, the present invention provides an adaptive cruise system integrated with a short-distance detection system that can effectively avoid collision risks without affecting driving convenience and comfort.
本发明提供的融合近距离探测系统的自适应巡航系统，装设于一第一车辆，其包括一近距离探测单元和一控制单元。所述近距离探测单元用于探测所述第一车辆前方设定距离范围内的一障碍物及一第二车辆的行驶状态，并根据所述行驶状态产生一行驶状态信息，根据是否存在所述障碍物产生一障碍物信息或一无障碍物信息。所述控制单元电连接所述近距离探测单元，用于接收所述近距离探测单元传来的行驶状态信息、障碍物信息或无障碍物信息。所述控制单元还计算所述第一车辆停止至起步的一起停时间间隔，并比对所述起停时间间隔与一设定时间。当所述第一车辆处于停止状态，且所述第二车辆由停止状态变为行驶状态时，若所述控制单元接收到所述障碍物信息，则控制所述第一车辆保持停止；若所述控制单元接收到所述无障碍物信息，则根据所述起停时间间隔与所述设定时间的比对结果，判断是否控制所述第一车辆开始行驶。The adaptive cruise system integrated with the short-distance detection system provided by the present invention is installed in a first vehicle, which includes a short-distance detection unit and a control unit. The short-range detection unit is used to detect an obstacle within a set distance in front of the first vehicle and the driving state of a second vehicle, and generate a driving state information according to the driving state, and according to whether there is the Obstacles generate an obstacle message or a non-obstacle message. The control unit is electrically connected to the short-distance detection unit, and is used for receiving the driving state information, obstacle information or obstacle-free information from the short-distance detection unit. The control unit also calculates the time interval between stopping and starting of the first vehicle, and compares the time interval between starting and stopping with a set time. When the first vehicle is in a stopped state and the second vehicle changes from a stopped state to a driving state, if the control unit receives the obstacle information, it controls the first vehicle to keep stopping; if the The control unit receives the obstacle-free information, and judges whether to control the first vehicle to start driving according to the comparison result between the start-stop time interval and the set time.
进一步地，所述自适应巡航系统还包括一中长距探测单元，所述中长距探测单元用于探测所述第一车辆前方设定距离范围外的第二车辆的行驶状态和障碍物信息，所述控制单元接收的行驶状态信息、障碍物信息或无障碍物信息包括所述中长距探测单元产生的行驶状态信息、障碍物信息或无障碍物信息。Further, the adaptive cruise system also includes a medium-to-long-range detection unit, which is used to detect the driving state and obstacle information of the second vehicle outside the set distance in front of the first vehicle The driving state information, obstacle information or obstacle-free information received by the control unit includes the driving state information, obstacle information or obstacle-free information generated by the medium and long-distance detection unit.
进一步地，所述自适应巡航系统还包括一发动机单元，所述发动机单元电连接所述控制单元，所述控制单元根据接收的行驶状态信息产生一第一控制信息，以控制所述第一车辆起步或加速，所述发动机单元接收所述第一控制信息，并根据所述第一控制信息控制所述第一车辆起步或加速。Further, the adaptive cruise system further includes an engine unit, the engine unit is electrically connected to the control unit, and the control unit generates a first control information according to the received driving state information to control the first vehicle Starting or accelerating, the engine unit receives the first control information, and controls the first vehicle to start or accelerate according to the first control information.
进一步地，所述控制单元判断所述起停时间间隔小于所述设定时间时，根据所述第一控制信息控制所述发动机单元起动所述第一车辆。Further, when the control unit judges that the start-stop time interval is less than the set time, it controls the engine unit to start the first vehicle according to the first control information.
进一步地，所述自适应巡航系统更包括一油门控制单元，所述油门控制单元电连接所述控制单元，所述控制单元判断所述起停时间间隔大于所述设定时间时，所述控制单元等待驾驶员控制所述油门控制单元以产生一油门控制信息，所述控制单元根据所述油门控制信息控制所述发动机单元起动所述第一车辆。Furthermore, the adaptive cruise system further includes a throttle control unit, the throttle control unit is electrically connected to the control unit, and when the control unit judges that the start-stop time interval is greater than the set time, the control The unit waits for the driver to control the accelerator control unit to generate accelerator control information, and the control unit controls the engine unit to start the first vehicle according to the accelerator control information.
进一步地，所述自适应巡航系统更包括一煞车单元，电连接所述控制单元，所述控制单元还根据接收的行驶状态信息产生一第二控制信息，所述煞车单元接收所述第二控制信息，并根据所述第二控制信息控制所述第一车辆减速或停止，当所述煞车单元控制所述第一车辆停止时，所述第二车辆由停止状态变为行驶状态，且所述控制单元接收到所述障碍物信息，所述控制单元根据所述第二控制信息控制所述第一车辆持续保持在停止状态。Further, the adaptive cruise system further includes a braking unit electrically connected to the control unit, the control unit also generates a second control information according to the received driving state information, and the braking unit receives the second control information information, and control the first vehicle to decelerate or stop according to the second control information, when the braking unit controls the first vehicle to stop, the second vehicle changes from a stopped state to a driving state, and the The control unit receives the obstacle information, and the control unit controls the first vehicle to keep in the stopped state according to the second control information.
进一步地，所述自适应巡航系统更包括一输入单元，所述输入单元电连接所述控制单元，用于输入所述设定时间储存至所述控制单元。Further, the adaptive cruise system further includes an input unit, the input unit is electrically connected to the control unit, and is used for inputting the set time to be stored in the control unit.
进一步地，所述近距离探测单元包括一超声波雷达单元和/或一环视单元，所述超声波雷达单元发射超声波以探测所述障碍物或所述第二车辆，所述环视单元至少包括安装于车头或车身两侧的摄像头，所述环视单元利用所述摄像头探测所述障碍物或所述第二车辆。Further, the short-distance detection unit includes an ultrasonic radar unit and/or a surround view unit, the ultrasonic radar unit emits ultrasonic waves to detect the obstacle or the second vehicle, and the surround view unit at least includes or the cameras on both sides of the vehicle body, the surround view unit uses the cameras to detect the obstacle or the second vehicle.
进一步地，所述中长距探测单元包括一毫米波雷达单元和/或一摄像头单元，所述毫米波雷达单元发射毫米波以探测所述第一车辆前方设定距离范围外的障碍物或第二车辆，所述摄像头单元安装于前挡风玻璃上方以探测所述第一车辆前方设定距离范围外的障碍物或第二车辆。Further, the medium and long-distance detection unit includes a millimeter-wave radar unit and/or a camera unit, and the millimeter-wave radar unit emits millimeter waves to detect obstacles outside the set distance in front of the first vehicle or the first vehicle. For two vehicles, the camera unit is installed above the front windshield to detect obstacles outside the set distance in front of the first vehicle or the second vehicle.
本发明利用近距离探测单元的超声波雷达单元，及/或环视单元的摄像头，探测前方车辆以及障碍物，自适应巡航系统并根据起停时间间隔是否小于所述设定时间，判断是否控制第一车辆开始行驶，使得第一车辆跟随前方第二车辆到停后，若第二车辆起步，且前方无障碍物，第一车辆能够自动跟随前车起步，无需驾驶员再次确认后起步；或者，当前方出现行人等道路使用者时，不再跟随前方车辆自动起步，或在驾驶员确认的情况下跟随前车起步。藉由近距离探测单元中超声波雷达单元以及环视单元，改善传统自适应巡航系统传感器近距离探测盲区问题，提高自适应巡航系统的安全性、便利性和舒适性。The present invention utilizes the ultrasonic radar unit of the short-distance detection unit and/or the camera of the surround-view unit to detect vehicles and obstacles in front, and the adaptive cruise system judges whether to control the first time according to whether the start-stop time interval is less than the set time. After the vehicle starts to drive so that the first vehicle follows the second vehicle ahead to a stop, if the second vehicle starts and there are no obstacles in front, the first vehicle can automatically follow the vehicle in front and start without the need for the driver to confirm again; or, the current When there are pedestrians and other road users on the side, it will no longer automatically start following the vehicle in front, or start following the vehicle in front with the confirmation of the driver. By using the ultrasonic radar unit and the surround view unit in the short-range detection unit, the problem of the blind area of the short-range detection of the traditional adaptive cruise system sensor is improved, and the safety, convenience and comfort of the adaptive cruise system are improved.
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其他目的、特征和优点能够更明显易懂，以下特举较佳实施例，并配合附图，详细说明如下。The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the following preferred embodiments are specifically cited below, and are described in detail as follows in conjunction with the accompanying drawings.
附图说明Description of drawings
图1为本发明提供的融合近距离探测系统的自适应巡航系统的示意图。FIG. 1 is a schematic diagram of an adaptive cruise system fused with a short-distance detection system provided by the present invention.
图2为本发明实施例中配置有融合近距离探测系统的自适应巡航系统的车辆示意图。FIG. 2 is a schematic diagram of a vehicle configured with an adaptive cruise system fused with a short-distance detection system according to an embodiment of the present invention.
图3A为本发明实施例中中长距探测单元的毫米波雷达单元的安装位置及探测范围示意图。FIG. 3A is a schematic diagram of the installation position and detection range of the millimeter-wave radar unit of the medium and long-distance detection unit in the embodiment of the present invention.
图3B为本发明实施例中中长距探测单元的摄像头单元的安装位置及探测范围示意图。FIG. 3B is a schematic diagram of the installation position and detection range of the camera unit of the medium and long-distance detection unit in the embodiment of the present invention.
图4A为本发明实施例中近距离探测单元的超声波雷达探测单元的安装位置及探测范围示意图。FIG. 4A is a schematic diagram of the installation position and detection range of the ultrasonic radar detection unit of the short-distance detection unit in the embodiment of the present invention.
图4B为本发明实施例中近距离探测单元的环视单元的安装位置及探测范围示意图。4B is a schematic diagram of the installation position and detection range of the surround view unit of the short-distance detection unit in the embodiment of the present invention.
具体实施方式Detailed ways
为更进一步阐述本发明为达成预定发明目的所采取的技术手段及功效，以下结合附图及较佳实施例，对本发明详细说明如下。In order to further illustrate the technical means and functions adopted by the present invention to achieve the intended purpose of the invention, the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.
请参阅图1，图1为本发明提供的融合近距离探测系统的自适应巡航系统的示意图。由图1所示，融合近距离探测系统的自适应巡航系统100包括中长距探测单元170、近距离探测单元110、控制单元120以及发动机单元130。控制单元120电连接近距离探测单元110和中长距探测单元170，发动机单元130电连接控制单元120。Please refer to FIG. 1 . FIG. 1 is a schematic diagram of an adaptive cruise system fused with a short-distance detection system provided by the present invention. As shown in FIG. 1 , an adaptive cruise system 100 fused with a short-range detection system includes a mid-range and long-range detection unit 170 , a short-range detection unit 110 , a control unit 120 and an engine unit 130 . The control unit 120 is electrically connected to the short-distance detection unit 110 and the medium-long distance detection unit 170 , and the engine unit 130 is electrically connected to the control unit 120 .
请参阅图2，图2为本发明实施例中配置有融合近距离探测系统的自适应巡航系统的车辆的行车示意图。由图2所示，第一车辆200以及第二车辆202行驶于道路上，第一车辆200前方跟随第二车辆202行驶。第一车辆200配置有融合近距离探测系统的自适应巡航系统100。Please refer to FIG. 2 . FIG. 2 is a schematic diagram of a vehicle configured with an adaptive cruise system fused with a proximity detection system according to an embodiment of the present invention. As shown in FIG. 2 , the first vehicle 200 and the second vehicle 202 are driving on the road, and the first vehicle 200 is following the second vehicle 202 ahead. The first vehicle 200 is equipped with the adaptive cruise control system 100 fused with the proximity detection system.
请参阅图1，中长距探测单元170用于探测距离第一车辆200设定距离范围外的第二车辆202的行驶状态(该行驶状态可为行进状态或是停止状态)，近距离探测单元110用于探测距离第一车辆200设定距离范围内的第二车辆202的行驶状态，也就是说，当第二车辆202与第一车辆200之间的距离超过设定距离时，其行驶状态由中长距探测单元170探测，当第二车辆202与第一车辆200之间的距离小于设定距离时，其行驶状态由近距离探测单元110探测。该设定距离可以根据中长距探测单元170和近距离探测单元110的测距范围而调整，通常情况下，设定距离的数值应该使中长距探测单元170和近距离探测单元110的测距范围能够无缝衔接。中长距探测单元170和近距离探测单元110探测到第二车辆202的行驶状态后，产生一行驶状态信息Sc，行驶状态信息Sc包括探测到的行驶状态。中长距探测单元170和近距离探测单元110也用于探测第一车辆200前方的障碍物250，于此实施例中，障碍物250为路上的一位行人。当中长距探测单元170和近距离探测单元110探测到障碍物250时，产生障碍物信息So。当第一车辆200前方并无障碍物时，中长距探测单元170和近距离探测单元110并未探测到障碍物，因此，中长距探测单元170和近距离探测单元110产生一无障碍物信息Sn。Referring to Fig. 1, the medium and long-distance detection unit 170 is used to detect the driving state of the second vehicle 202 outside the set distance range of the first vehicle 200 (the driving state can be a traveling state or a stopped state), and the short-distance detection unit 110 is used to detect the driving state of the second vehicle 202 within the set distance range from the first vehicle 200, that is, when the distance between the second vehicle 202 and the first vehicle 200 exceeds the set distance, its driving state It is detected by the medium-long distance detection unit 170 , and when the distance between the second vehicle 202 and the first vehicle 200 is less than a set distance, its driving state is detected by the short-distance detection unit 110 . The set distance can be adjusted according to the ranging ranges of the medium and long-distance detection unit 170 and the short-distance detection unit 110. Usually, the value of the set distance should make the distance measurement of the medium-long distance detection unit 170 and the short-distance detection unit 110 The distance range can be seamlessly connected. After the middle and long-distance detection unit 170 and the short-distance detection unit 110 detect the driving state of the second vehicle 202 , they generate driving state information Sc, which includes the detected driving state. The mid-range and long-range detection unit 170 and the short-range detection unit 110 are also used to detect an obstacle 250 in front of the first vehicle 200 . In this embodiment, the obstacle 250 is a pedestrian on the road. When the middle and long-range detection unit 170 and the short-range detection unit 110 detect the obstacle 250, obstacle information So is generated. When there is no obstacle in front of the first vehicle 200, the middle and long distance detection unit 170 and the short distance detection unit 110 do not detect an obstacle, therefore, the middle and long distance detection unit 170 and the short distance detection unit 110 generate an obstacle free Information Sn.
控制单元120接收中长距探测单元170和近距离探测单元110传送的行驶状态信息Sc、障碍物信息So、以及无障碍物信息Sn。控制单元120根据行驶状态信息和/或障碍物信息So、无障碍物信息Sn产生第一控制信息S1以及第二控制信息S2。控制单元120以第一控制信息S1控制第一车辆200起步或加速，以第二控制信息S2控制第一车辆200减速或停止。控制单元120会计算第一车辆200自完全停止，至下次开始行驶之间的时间间隔，在此称为起停时间间隔To。另外，控制单元120储存有一设定时间Ts。The control unit 120 receives the driving state information Sc, obstacle information So, and obstacle-free information Sn transmitted from the medium-long distance detection unit 170 and the short-distance detection unit 110 . The control unit 120 generates the first control information S1 and the second control information S2 according to the driving state information and/or the obstacle information So and the obstacle-free information Sn. The control unit 120 controls the first vehicle 200 to start or accelerate with the first control information S1, and controls the first vehicle 200 to decelerate or stop with the second control information S2. The control unit 120 calculates the time interval between when the first vehicle 200 stops completely and starts driving next time, which is referred to as the start-stop time interval To. In addition, the control unit 120 stores a set time Ts.
发动机单元130电连接控制单元120。发动机单元130接收第一控制信息S1，第一控制信息S1控制发动机单元130起步或加速，则第一车辆200进行起步或加速。The engine unit 130 is electrically connected to the control unit 120 . The engine unit 130 receives the first control information S1, and the first control information S1 controls the engine unit 130 to start or accelerate, and then the first vehicle 200 starts or accelerates.
于一实施例，融合近距离探测系统的自适应巡航系统100更包括一输入单元140，输入单元140电连接控制单元120。输入单元140用于输入设定时间Ts，并将设定时间Ts储存至控制单元120。需说明的是，上述的设定时间Ts可为一手动输入数值、或一默认值。In one embodiment, the adaptive cruise system 100 integrated with the proximity detection system further includes an input unit 140 , and the input unit 140 is electrically connected to the control unit 120 . The input unit 140 is used for inputting the set time Ts, and storing the set time Ts to the control unit 120 . It should be noted that the above set time Ts can be a manually input value or a default value.
于一实施例中，图1的融合近距离探测系统的自适应巡航系统100更包括一煞车单元150，煞车单元150电连接控制单元120，煞车单元150用于接收第二控制信息S2。请参阅图2，第一车辆200前方跟随第二车辆202行驶，当第二车辆202由行驶状态变为完全停止，控制单元120根据第二车辆202的行驶状态信息产生第二控制信息S2，第二控制信息S2控制煞车单元150煞车，则后方跟车的第一车辆200随之处于减速并进入停止状态。In one embodiment, the adaptive cruise control system 100 fused with the proximity detection system in FIG. 1 further includes a braking unit 150 , the braking unit 150 is electrically connected to the control unit 120 , and the braking unit 150 is configured to receive the second control information S2 . Please refer to FIG. 2 , the first vehicle 200 follows the second vehicle 202 ahead, and when the second vehicle 202 changes from a running state to a complete stop, the control unit 120 generates second control information S2 according to the driving state information of the second vehicle 202 . The second control information S2 controls the brake unit 150 to brake, and then the first vehicle 200 following behind decelerates and enters a stop state.
当第一车辆200处于停止状态时，第二车辆202由停止状态变为行驶状态，即第二车辆202起步行驶。此时，中长距探测单元170或近距离探测单元110探测到第二车辆202由停止变为起步行驶，并且探测到第一车辆200前方有一障碍物250。需说明的是，此处所指的障碍物可为行人、自行车、电瓶车和摩托车等在自适应巡航功能控制下跟随前车到停后任意可能出现在第一车辆200前方的障碍物。控制单元120接收到障碍物信息So，并根据行驶状态信息和障碍物信息产生第二控制信息S2，根据第二控制信息S2控制第一车辆200持续保持在停止状态。When the first vehicle 200 is in a stopped state, the second vehicle 202 changes from a stopped state to a running state, that is, the second vehicle 202 starts to drive. At this time, the medium-long distance detection unit 170 or the short-distance detection unit 110 detects that the second vehicle 202 changes from stopping to driving, and detects an obstacle 250 in front of the first vehicle 200 . It should be noted that the obstacles referred to here can be any obstacles that may appear in front of the first vehicle 200 after following the vehicle in front to stop under the control of the adaptive cruise function, such as pedestrians, bicycles, battery cars and motorcycles. The control unit 120 receives the obstacle information So, generates second control information S2 according to the driving state information and the obstacle information, and controls the first vehicle 200 to keep in the stopped state according to the second control information S2.
于另一实施例中，当第一车辆200处于停止状态时，第二车辆202由停止状态变为行驶状态。控制单元120接收到无障碍物信息Sn，控制单元120判断起停时间间隔To是否小于设定时间Ts，并根据判断结果判断是否控制第一车辆200开始行驶状态。当控制单元120判断起停时间间隔To小于设定时间Ts时，控制单元120以第一控制信息S1控制发动机单元130加速或开始运转，则第一车辆200开始起步，进入行驶状态，融合近距离探测系统的自适应巡航系统100完成控制第一车辆200跟随前车(即第二车辆202)起步的行驶控制。In another embodiment, when the first vehicle 200 is in a stopped state, the second vehicle 202 changes from a stopped state to a driving state. When the control unit 120 receives the obstacle-free information Sn, the control unit 120 determines whether the start-stop time interval To is less than the set time Ts, and determines whether to control the first vehicle 200 to start the driving state according to the determination result. When the control unit 120 judges that the start-stop time interval To is less than the set time Ts, the control unit 120 controls the engine unit 130 to accelerate or start running with the first control information S1, then the first vehicle 200 starts to start, enters the driving state, and merges the short distance The adaptive cruise system 100 of the detection system completes the driving control of controlling the first vehicle 200 to start following the preceding vehicle (ie, the second vehicle 202 ).
于另一实施例，融合近距离探测系统的自适应巡航系统100更包括一油门控制单元160，油门控制单元160电连接控制单元120。控制单元120判断起停时间间隔To大于设定时间Ts时，控制单元120等待驾驶员控制油门控制单元160。需说明的是上述驾驶员控制油门控制单元160的方式，可为驾驶员踩油门踏板、转油门或其他任意控制油门的方式。油门控制单元160则产生一油门控制信息Sa，控制单元120根据所接收到的油门控制信息Sa，控制发动机单元130开始运转，则第一车辆200开始起步加速，进入行驶状态。In another embodiment, the adaptive cruise control system 100 integrated with the proximity detection system further includes a throttle control unit 160 , and the throttle control unit 160 is electrically connected to the control unit 120 . When the control unit 120 determines that the start-stop time interval To is greater than the set time Ts, the control unit 120 waits for the driver to control the throttle control unit 160 . It should be noted that the way the driver controls the accelerator control unit 160 may be the driver stepping on the accelerator pedal, turning the accelerator or any other way of controlling the accelerator. The accelerator control unit 160 generates accelerator control information Sa, and the control unit 120 controls the engine unit 130 to start running according to the received accelerator control information Sa, and then the first vehicle 200 starts to accelerate and enters a driving state.
于一实施例，第一车辆200中的中长距探测单元170包括一毫米波雷达单元172和/或一摄像头单元174。毫米波雷达单元172设置于第一车辆200的前端，用于发射毫米波以探测距离第一车辆200设定距离范围外的障碍物250或第二车辆202。摄像头单元174采用的摄像头为普通的摄像头，其设置于前挡风玻璃上方的内后视镜位置处，用于采集距离第一车辆200设定距离范围外的障碍物250或第二车辆202的影像。如图3A所示，毫米波雷达单元172的最远探测距离大约为160米，最近探测距离大约为2米，其探测盲区为第一车辆200前方2米范围内的区域。如图3B所示，摄像头单元174的最远探测距离大约为100米，其探测盲区为车辆前舱盖前方的三角形区域。In one embodiment, the mid-to-long range detection unit 170 in the first vehicle 200 includes a millimeter wave radar unit 172 and/or a camera unit 174 . The millimeter wave radar unit 172 is disposed at the front of the first vehicle 200 and is used to emit millimeter waves to detect obstacles 250 or the second vehicle 202 outside the set distance from the first vehicle 200 . The camera used by the camera unit 174 is an ordinary camera, which is arranged at the position of the interior rearview mirror above the front windshield, and is used to collect the information of the obstacle 250 or the second vehicle 202 outside the set distance range from the first vehicle 200. image. As shown in FIG. 3A , the farthest detection distance of the millimeter-wave radar unit 172 is about 160 meters, the shortest detection distance is about 2 meters, and its detection blind zone is an area within 2 meters in front of the first vehicle 200 . As shown in FIG. 3B , the farthest detection distance of the camera unit 174 is about 100 meters, and its detection blind spot is a triangular area in front of the front hatch of the vehicle.
于一实施例，第一车辆200中的近距离探测单元110包括一超声波雷达单元112。超声波雷达单元112基于超声波传感器实现，主要功能有盲区探测、半自动/自动泊车辅助功能、障碍物提醒等。超声波雷达单元112会向四周发射超声波，以探测障碍物250或第二车辆202。当超声波打到障碍物250或第二车辆202，超声波雷达单元112接收反射回的超声波，而判断前方障碍物250或第二车辆202与本车的距离。超声波雷达单元112设置于所述第一车辆200的前端，沿车头轮廓分布于车头处，如图4A所示，图4A中示出车头处设有4个超声波雷达单元，如此，可以保证近距离探测单元110的探测范围，避免存在探测死角。当然，为了便于泊车及防止后车追尾，车尾部分最好也布置有超声波雷达单元112，其布置方式与布置于车头时相似，在此不再赘述。In one embodiment, the proximity detection unit 110 in the first vehicle 200 includes an ultrasonic radar unit 112 . The ultrasonic radar unit 112 is implemented based on ultrasonic sensors, and its main functions include blind spot detection, semi-automatic/automatic parking assistance, and obstacle reminders. The ultrasonic radar unit 112 emits ultrasonic waves to detect the obstacle 250 or the second vehicle 202 . When the ultrasonic wave hits the obstacle 250 or the second vehicle 202 , the ultrasonic radar unit 112 receives the reflected ultrasonic wave to determine the distance between the obstacle 250 or the second vehicle 202 and the own vehicle. The ultrasonic radar unit 112 is arranged on the front end of the first vehicle 200, and is distributed at the front of the vehicle along the contour of the front of the vehicle, as shown in Figure 4A. Figure 4A shows that the front of the vehicle is provided with four ultrasonic radar units, so that the short-distance The detection range of the detection unit 110 avoids detection dead angles. Of course, in order to facilitate parking and prevent rear-end collisions, the rear part of the vehicle is also preferably equipped with an ultrasonic radar unit 112, and its arrangement is similar to that at the front of the vehicle, so it will not be repeated here.
如此，通过在第一车辆200上加设超声波雷达单元112，可以实现车辆周围近距离范围内的障碍物探测，并在探测到近距离障碍物时，及时告知控制单元120，由控制单元120自动采取相应的控制措施，提高融合近距离探测系统的自适应巡航系统100的行车安全性，且不会影响驾驶舒适性和便利性。由于超声波雷达单元112具有较高的近距离探测准确性，因此可以避免现有自适应巡航系统中因中长距雷达自身的硬件限制所造成的近距离探测不准的情况。In this way, by adding an ultrasonic radar unit 112 to the first vehicle 200, it is possible to realize obstacle detection within a short distance around the vehicle, and when a short distance obstacle is detected, the control unit 120 is notified in time, and the control unit 120 automatically Corresponding control measures are taken to improve the driving safety of the adaptive cruise system 100 integrated with the proximity detection system without affecting driving comfort and convenience. Since the ultrasonic radar unit 112 has high short-distance detection accuracy, it can avoid the inaccurate short-distance detection caused by the hardware limitation of the medium and long-distance radar itself in the existing adaptive cruise system.
于另一实施例，第一车辆200中的近距离探测单元110包括一环视单元117。本实施例的环视单元117为360度环视单元，其主要通过布置在车辆四周的鱼眼摄像头实现，主要功能是泊车辅助功能。如图4B所示，环视单元117包括四个摄像头220，这些摄像头220主要分布在车头、车尾以及车身两侧的后视镜处，将这些摄像头220的探测范围综合起来，可以探测车辆360度范围内的影像，避免出现探测死角。如此，通过在第一车辆200上加设环视单元117，可以实现车辆周围近距离范围内的障碍物探测，并在探测到近距离障碍物时，及时告知控制单元120，由控制单元120自动采取相应的控制措施，提高融合近距离探测系统的自适应巡航系统100的行车安全性，且不会影响驾驶舒适性和便利性。由于环视单元117具有较大的探测范围，因此可以避免现有自适应巡航系统中因摄像头仅安装于前挡风玻璃上方所造成的探测盲区，提高探测的准确性。In another embodiment, the proximity detection unit 110 in the first vehicle 200 includes a surround view unit 117 . The surround view unit 117 of this embodiment is a 360-degree surround view unit, which is mainly realized by fisheye cameras arranged around the vehicle, and its main function is a parking assistance function. As shown in FIG. 4B , the surround view unit 117 includes four cameras 220 , and these cameras 220 are mainly distributed at the rearview mirrors at the front, the rear, and both sides of the vehicle body. Combining the detection ranges of these cameras 220 , the vehicle can be detected 360 degrees. Images within the range to avoid detection dead angle. In this way, by adding a surround view unit 117 to the first vehicle 200, it is possible to realize obstacle detection within a short distance around the vehicle, and when a short distance obstacle is detected, the control unit 120 is notified in time, and the control unit 120 automatically takes action. The corresponding control measures improve the driving safety of the adaptive cruise system 100 integrated with the proximity detection system without affecting driving comfort and convenience. Since the surround view unit 117 has a relatively large detection range, it can avoid the detection blind spot caused by the camera being installed only above the front windshield in the existing adaptive cruise system, and improve the detection accuracy.
另外，于本发明的另一实施例中，第一车辆200中的近距离探测单元110还可同时包括超声波雷达单元112以及环视单元117，使融合近距离探测系统的自适应巡航系统100的近距离探测单元110可以同时把超声波雷达单元112以及环视单元117整合在一起，因此可将超声波雷达单元112以及环视单元117探测到第一车辆200和/或前方障碍物250信息传送给融合近距离探测系统的自适应巡航系统100，进一步提高探测的准确性。需说明的是，前述前方障碍物信息包括：是否有障碍物信息、障碍物的距离、报警信号。In addition, in another embodiment of the present invention, the short-distance detection unit 110 in the first vehicle 200 can also include the ultrasonic radar unit 112 and the surround view unit 117 at the same time, so that the short-distance detection system 100 of the fusion short-distance detection system can The distance detection unit 110 can integrate the ultrasonic radar unit 112 and the surround view unit 117 at the same time, so the ultrasonic radar unit 112 and the surround view unit 117 can detect the first vehicle 200 and/or the front obstacle 250 information and send it to the fusion short-distance detection The adaptive cruise system 100 of the system further improves the detection accuracy. It should be noted that the foregoing obstacle information includes: whether there is obstacle information, the distance of the obstacle, and the alarm signal.
综上所述，本发明通过把超声波雷达单元112及/或环视单元117整合在自适应巡航系统100的近距离探测单元110中，以探测第一车辆200前的障碍物，并配合设定时间的判断，使自适应巡航系统100跟随前车到停后，若前方出现行人等道路使用者时，可以自动不跟随前方车辆自动起步，若前方无行人等道路使用者，则能自动跟随前车起步，无需驾驶员再次确认后起步。能够弥补自适应巡航系统传感器近距离探测盲区问题，提高自适应巡航系统的安全性、便利性和舒适性。In summary, the present invention integrates the ultrasonic radar unit 112 and/or the surround view unit 117 into the short-distance detection unit 110 of the adaptive cruise system 100 to detect obstacles in front of the first vehicle 200, and cooperate with the set time After the adaptive cruise system 100 follows the vehicle in front to stop, if there are pedestrians and other road users ahead, it can automatically start without following the vehicle in front, and if there are no pedestrians and other road users in front, it can automatically follow the vehicle in front Start, start without the driver confirming again. The invention can make up for the blind area detection problem of the adaptive cruise system sensor at close range, and improve the safety, convenience and comfort of the adaptive cruise system.
以上所述，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专业的技术人员，在不脱离本发明技术方案范围内，当可利用上述揭示的技术内容作出些许更动或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Anyone familiar with this field Those skilled in the art, without departing from the scope of the technical solution of the present invention, may use the technical content disclosed above to make some changes or modify them into equivalent embodiments with equivalent changes, but as long as they do not depart from the technical solution of the present invention, the Technical Essence Any simple modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the technical solution of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201710139094.4ACN107364445B (en) | 2017-03-09 | 2017-03-09 | An Adaptive Cruise System Fused with Proximity Detection System |
| Application Number | Priority Date | Filing Date | Title |
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| CN201710139094.4ACN107364445B (en) | 2017-03-09 | 2017-03-09 | An Adaptive Cruise System Fused with Proximity Detection System |
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| CN107364445A CN107364445A (en) | 2017-11-21 |
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| CN201710139094.4AActiveCN107364445B (en) | 2017-03-09 | 2017-03-09 | An Adaptive Cruise System Fused with Proximity Detection System |
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