CN111169474B - Autonomous emergency steering avoidance auxiliary device and method - Google Patents
Autonomous emergency steering avoidance auxiliary device and method Download PDFInfo
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- CN111169474B CN111169474B CN202010049140.3A CN202010049140A CN111169474B CN 111169474 B CN111169474 B CN 111169474B CN 202010049140 A CN202010049140 A CN 202010049140A CN 111169474 B CN111169474 B CN 111169474B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 17
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W2040/0818—Inactivity or incapacity of driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to an autonomous emergency steering avoidance assisting device and a method, wherein the assisting device comprises: a control module; the environment sensing module is connected with the control module and used for detecting the surrounding traffic environment of the vehicle and planning a travelable path according to the environment information; the driver monitoring module is connected with the control module and used for monitoring the attention of a driver; the brake execution module is connected with the control module and used for carrying out brake operation on the automobile; the rotation execution module is connected with the control module and used for steering the automobile; and the alarm module is connected with the control module and used for warning a driver. The auxiliary method is used for the auxiliary device and is used for realizing autonomous emergency steering avoidance of the vehicle. Compared with the prior art, the invention has the advantages of high automation degree, more reasonable avoidance path and the like.
Description
Technical Field
The invention relates to the technical field of automatic control of vehicles, in particular to an autonomous emergency steering avoidance auxiliary device and an autonomous emergency steering avoidance auxiliary method.
Background
In recent years, advanced Driving Assistance Systems (ADAS) have been rapidly developed, in which an automatic emergency braking assistance system and a steering avoidance assistance system can help a driver avoid a collision or reduce the hazard of a collision at dangerous moments. The two danger avoiding methods have advantages. In a scene with higher relative vehicle speed, the steering avoidance system is more effective due to the shorter required response distance.
The existing vehicle model equipped with the emergency steering avoidance assistance system has the following implementation mode. In a collision risk scenario, the steering avoidance system needs to be activated by a driver through actively turning the steering wheel, and after the system is activated, the system outputs a moment in the same direction as the turning direction of the driver to assist the driver to turn the steering wheel and avoid. The steering avoidance direction of the vehicle is determined by the driver, and the system is configured to avoid the collision by outputting sufficient steering torque. If the driver does not have steering before the collision occurs, the system is not automatically triggered. Often, some dangerous situations are caused by distraction of the driver, and in such cases, the time for the driver to actively make avoidance judgment and decision is insufficient. Accordingly, there is a need for a steering avoidance assistance device that can assist the driver in making decisions and decisions in the event of distraction of the driver.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an autonomous emergency steering avoidance assisting device and method with high automation degree and more reasonable avoidance path.
The aim of the invention can be achieved by the following technical scheme:
an autonomous emergency steering avoidance assistance device, comprising:
A control module 1;
the environment sensing module 2 is connected with the control module 1 and is used for detecting the surrounding traffic environment of the vehicle and planning a travelable path according to the environment information;
the driver monitoring module 3 is connected with the control module 1 and is used for monitoring the attention of a driver;
The brake execution module 4 is connected with the control module 1 and is used for performing brake operation on the automobile;
the steering execution module 5 is connected with the control module 1 and is used for steering the automobile;
And the alarm module 6 is connected with the control module 1 and is used for warning a driver.
Preferably, the environment sensing module 2 includes:
The sensor unit is connected with the control module 1 and is used for acquiring longitudinal and transverse speed and acceleration information of the vehicle, lane line information of the vehicle on two sides, speed and acceleration information of an obstacle in front of the vehicle and speed and acceleration information of the obstacle on an adjacent lane of the vehicle;
and one end of the path planning unit is connected with the sensor unit, and the other end of the path planning unit is connected with the control module 1 and is used for planning the vehicle running path according to the information acquired by the sensor unit.
Preferably, the brake execution module 4 is connected with an existing vehicle engine control device and a vehicle brake device; the steering execution module 5 is connected with an existing vehicle rotating device.
Preferably, the alarm module 6 comprises an acoustic alarm unit and an optical alarm unit; one end of the sound alarm unit is connected with the control module 1, and the other end of the sound alarm unit is connected with the car interior sound equipment; one end of the light alarm unit is connected with the control module 1, and the other end of the light alarm unit is respectively connected with the central control display and the vehicle interior lamp.
An autonomous emergency steering avoidance assistance method for the assistance device, comprising the steps of:
step 1: the environment sensing module 2 collects the surrounding environment information of the vehicle, plans a drivable path according to the information, and then sends the information to the control module 1;
Step 2: the control module 1 calculates collision time TTC of the nearest obstacle in front in real time according to the surrounding environment information of the vehicle and the speed information of the vehicle;
Step 3: judging whether TTC is smaller than a threshold value, if so, executing step 4, otherwise, returning to step 1;
Step 4: the driver monitoring module 3 judges whether the driver is focused on driving, if so, the step 5 is executed, otherwise, the alarm module 6 alarms, and then the step 6 is executed;
Step 5: judging whether the driver has an active steering avoidance action, if so, executing the step 6, otherwise, executing the step 7;
step 6: judging whether a collision risk exists on a travelable path planned by the environment sensing module in the step 1 or on one side actively turned by a driver, if so, executing the step 7, otherwise, executing the step 8;
Step 7: the emergency steering avoidance auxiliary device stops running, and the steering avoidance auxiliary function is closed;
Step 8: the control module 1 outputs a braking instruction and a steering instruction to the braking execution module 4 and the steering execution module 5 respectively, so that emergency avoidance is realized.
Preferably, in the step 1, a Sigmoid function is adopted to perform travelable path planning; the expression of the Sigmoid function is as follows:
wherein x is the longitudinal displacement of the vehicle, y is the lateral displacement of the vehicle, and m, n and k are basic parameters of the function, which can be obtained by the following constraint equation:
Where l is the minimum safe distance between the vehicle and the obstacle, (x 0,y0) is the coordinates of the vehicle when the vehicle is at the minimum safe distance from the obstacle, v is the vehicle longitudinal speed, a ymax is the vehicle maximum lateral acceleration, and y s is the lateral displacement offset value.
Preferably, the method for calculating the collision time TTC between the vehicle and the nearest obstacle in front is as follows:
preferably, the method for determining that the driver is focusing on driving in the step 4 is as follows:
Step 4-1: the method comprises the steps that a driver monitoring module (3) obtains an eye opening duration T 1 of a driver and a duration T 2 of eye gazing on a road;
Step 4-2: and judging whether T 1 and T 2 reach a first threshold value and a second threshold value respectively, if so, the driver is in a concentrated state, otherwise, the driver is in a non-concentrated state.
Compared with the prior art, the invention has the following advantages:
1. The degree of automation is high: according to the steering avoidance assisting device and the steering avoidance assisting method, whether the driver actively performs steering avoidance is judged, the judgment of the attention of the driver is added to the judgment condition, when the attention of the driver is concentrated, the starting and stopping of the assisting device are related to whether the driver actively performs avoidance, and in this case, the assisting device only assists the avoidance action of the driver; when the driver is not focused, the auxiliary device directly performs steering avoidance operation and gives warning to the driver, so that the possibility of collision with the front obstacle is greatly reduced.
2. The avoidance path is more reasonable: the steering avoidance assisting device and the method adopt the Sigmoid function to carry out emergency avoidance path planning, and the method can ensure that the vehicle does not scratch with the front obstacle when carrying out emergency avoidance due to the fact that the minimum avoidance safety distance is set.
Drawings
FIG. 1 is a schematic diagram of an autonomous emergency steering avoidance device according to the present invention;
Fig. 2 is a schematic flow chart of an autonomous emergency steering avoidance method in the present invention.
The reference numerals in the figures indicate:
1. The system comprises a control module, an environment sensing module, a driver monitoring module, a brake executing module, a steering executing module, a warning module and an alarm module, wherein the control module, the environment sensing module, the driver monitoring module, the brake executing module, the steering executing module and the warning module are sequentially arranged.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
The invention relates to an autonomous emergency steering avoidance assisting device and an autonomous emergency steering avoidance assisting method, wherein the structure of the assisting device is shown in figure 1.
The auxiliary device comprises a control module 1, an environment sensing module 2, a driver monitoring module 3, a brake executing module 4, a steering executing module 5 and an alarm module 6 which are connected with the control module 1.
The environment sensing module 2 is used for detecting the traffic environment around the vehicle and planning a travelable path according to the environment information;
the driver monitoring module 3 is used for monitoring the attention and driving behavior of the driver;
the brake execution module 4 is used for performing brake operation on the automobile;
the steering execution module 5 is used for steering the automobile;
and the alarm module 6 is used for warning the driver.
The environment sensing module 2 comprises a sensor unit and a path planning unit, wherein the sensor unit is connected with the control module 1 and is used for collecting longitudinal and transverse speed and acceleration information of a vehicle, information of a lane where the vehicle is located, information of road lines on two sides of the vehicle, information of speed and acceleration of an obstacle in front of the vehicle and information of speed and acceleration of the obstacle on an adjacent lane of the vehicle. One end of the path planning unit is connected with the sensor unit, and the other end of the path planning unit is connected with the control module 1 and is used for planning the vehicle running path according to the information acquired by the sensor unit.
The brake actuating module 4 is connected to an existing vehicle engine control device and a vehicle brake device, and the steering actuating module 5 is connected to an existing vehicle turning device.
The alarm module 6 comprises an acoustic alarm unit and an optical alarm unit, wherein one end of the acoustic alarm unit is connected with the control module 1, the other end of the acoustic alarm unit is connected with the car interior sound equipment, one end of the optical alarm unit is connected with the control module 1, and the other end of the optical alarm unit is respectively connected with the central control display and the car interior lamp.
The flow chart of the auxiliary method is shown in fig. 2, and comprises the following steps:
Step 1: the environment sensing module 2 collects information of surrounding environment of the vehicle, performs travelable path planning according to the information, and then sends the information to the control module 1, and the embodiment adopts a Sigmoid function to perform travelable path planning, wherein the expression of the Sigmoid function is as follows:
Wherein x is the longitudinal displacement of the vehicle, y is the transverse displacement of the vehicle, m, n and k are basic parameters of the function, and can be obtained by the following constraint equation:
Where l is the minimum safe distance between the vehicle and the obstacle, (x 0,y0) is the coordinates of the vehicle when the vehicle is at the minimum safe distance from the obstacle, v is the vehicle longitudinal speed, a ymax is the vehicle maximum lateral acceleration, and y s is the lateral displacement offset value.
The minimum safety distance between the vehicle and the obstacle is considered when the Sigmoid function is used for planning the travelable path, so that the probability of scratching between the vehicle and the obstacle is effectively avoided.
Step 2: the control module 1 calculates the collision time TTC of the nearest obstacle in front according to the surrounding environment information of the vehicle and the speed information of the vehicle in real time, and the calculation method of the TTC is as follows:
Step 3: judging whether TTC is smaller than a threshold value, if so, executing step 4, otherwise, returning to step 1;
Step 4: the driver monitoring module 3 judges whether the driver is focused on driving, if so, the step 5 is executed, otherwise, the alarm module 6 alarms, and then the step 6 is executed;
The judgment method of the attention of the driver comprises the following steps:
Step 4-1: the driver monitoring module 3 acquires the eye opening duration T 1 of the driver and the duration T 2 of the eye gazing on the road;
Step 4-2: and judging whether T 1 and T 2 reach a first threshold value and a second threshold value respectively, if so, the driver is in a concentrated state, otherwise, the driver is in a non-concentrated state.
Step 5: judging whether the driver has an active steering avoidance action, if so, executing the step 6, otherwise, executing the step 7;
step 6: judging whether a collision risk exists on a travelable path planned by the environment sensing module in the step 1 or on one side actively turned by a driver, if so, executing the step 7, otherwise, executing the step 8;
Step 7: the emergency steering avoidance auxiliary device stops running, and the steering avoidance auxiliary function is closed;
Step 8: the control module 1 outputs a braking instruction and a steering instruction to the braking execution module 4 and the steering execution module 5 respectively, so that emergency avoidance is realized.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (6)
1. An autonomous emergency steering avoidance assistance device, comprising:
A control module (1);
the environment sensing module (2) is connected with the control module (1) and is used for detecting the traffic environment around the vehicle and planning a travelable path according to the environment information;
the driver monitoring module (3) is connected with the control module (1) and is used for monitoring the attention of a driver;
the brake execution module (4) is connected with the control module (1) and is used for carrying out brake operation on the automobile;
The steering execution module (5) is connected with the control module (1) and is used for steering the automobile;
The alarm module (6) is connected with the control module (1) and used for warning a driver;
the autonomous emergency steering avoidance assistance method of the assistance device comprises the following steps:
step 1: the environment sensing module (2) collects information of surrounding environment of the vehicle, performs travelable path planning according to the information, and then sends the information to the control module (1);
Step 2: the control module (1) calculates collision time TTC of the nearest obstacle in front in real time according to the surrounding environment information of the vehicle and the speed information of the vehicle;
Step 3: judging whether TTC is smaller than a threshold value, if so, executing step 4, otherwise, returning to step 1;
Step 4: the driver monitoring module (3) judges whether the driver is focused on driving, if so, the step 5 is executed, otherwise, the alarm module (6) alarms, and then the step 6 is executed;
Step 5: judging whether the driver has an active steering avoidance action, if so, executing the step 6, otherwise, executing the step 7;
step 6: judging whether a collision risk exists on a travelable path planned by the environment sensing module in the step 1 or on one side actively turned by a driver, if so, executing the step 7, otherwise, executing the step 8;
Step 7: the emergency steering avoidance auxiliary device stops running, and the steering avoidance auxiliary function is closed;
step 8: the control module (1) outputs a braking instruction and a steering instruction to the braking execution module (4) and the steering execution module (5) respectively, so that emergency avoidance is realized;
In the step 1, a Sigmoid function is adopted to conduct travelable path planning; the expression of the Sigmoid function is as follows:
wherein x is the longitudinal displacement of the vehicle, y is the lateral displacement of the vehicle, and m, n and k are basic parameters of the function, which can be obtained by the following constraint equation:
Where l is the minimum safe distance between the vehicle and the obstacle, (x 0,y0) is the coordinates of the vehicle when the vehicle is at the minimum safe distance from the obstacle, v is the vehicle longitudinal speed, a ymax is the vehicle maximum lateral acceleration, and y s is the lateral displacement offset value.
2. An autonomous emergency steering avoidance assistance device according to claim 1, characterized in that the environment awareness module (2) comprises:
the sensor unit is connected with the control module (1) and is used for acquiring longitudinal and transverse speed and acceleration information of a vehicle, lane information of the vehicle, lane line information of the vehicle on two sides, speed and acceleration information of an obstacle in front of the vehicle and speed and acceleration information of the obstacle on an adjacent lane of the vehicle;
And one end of the path planning unit is connected with the sensor unit, and the other end of the path planning unit is connected with the control module (1) and is used for planning the vehicle running path according to the information acquired by the sensor unit.
3. An autonomous emergency steering avoidance assistance device as claimed in claim 1, wherein said brake actuation module (4) is connected to existing vehicle engine control means and vehicle brake means; the steering execution module (5) is connected with an existing vehicle rotating device.
4. An autonomous emergency steering avoidance assistance device according to claim 1, characterized in that the alarm module (6) comprises an acoustic alarm unit and an optical alarm unit; one end of the sound alarm unit is connected with the control module (1), and the other end of the sound alarm unit is connected with the car interior sound equipment; one end of the light alarm unit is connected with the control module (1), and the other end of the light alarm unit is respectively connected with the central control display and the vehicle interior lamp.
5. The autonomous emergency steering avoidance assistance device of claim 1 wherein the method for calculating the time to collision TTC of the vehicle with the nearest forward obstacle is:
6. The autonomous emergency steering avoidance assistance device of claim 1 wherein the determination of driver focus in step4 is:
Step 4-1: the method comprises the steps that a driver monitoring module (3) obtains an eye opening duration T 1 of a driver and a duration T 2 of eye gazing on a road;
Step 4-2: and judging whether T 1 and T 2 reach a first threshold value and a second threshold value respectively, if so, the driver is in a concentrated state, otherwise, the driver is in a non-concentrated state.
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| CN112606837A (en) * | 2020-12-25 | 2021-04-06 | 东风汽车集团有限公司 | Vehicle obstacle avoidance system and method with cooperative steering and braking |
| CN114312767A (en) * | 2021-12-30 | 2022-04-12 | 盐城工学院 | Intelligent active avoidance control system of automobile |
| CN114407879B (en) * | 2022-01-17 | 2023-06-02 | 常州信息职业技术学院 | Emergency steering control system and control method suitable for automatic driving |
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| CN108162958A (en) * | 2017-12-27 | 2018-06-15 | 长沙理工大学 | A kind of automobile active anti-collision control system and method |
| CN109941278A (en) * | 2017-12-20 | 2019-06-28 | 广州汽车集团股份有限公司 | A vehicle control method, device and system based on monitoring driver status |
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| JP4841425B2 (en) * | 2003-06-06 | 2011-12-21 | ボルボ テクノロジー コーポレイション | Method and mechanism for controlling automobile subsystems based on driver behavior interpretation |
| WO2006092431A1 (en) * | 2005-03-03 | 2006-09-08 | Continental Teves Ag & Co. Ohg | Method and device for avoiding a collision as a vehicle is changing lanes |
| CN101596903B (en) * | 2009-07-07 | 2012-02-15 | 清华大学 | Assisting method for transverse driving of multipurpose automobile and assisting system therefor |
| US8698639B2 (en) * | 2011-02-18 | 2014-04-15 | Honda Motor Co., Ltd. | System and method for responding to driver behavior |
| EP2682318B1 (en) * | 2012-07-03 | 2015-01-28 | Volvo Car Corporation | Motor vehicle collision warning system |
| CN105711588B (en) * | 2016-01-20 | 2018-05-11 | 奇瑞汽车股份有限公司 | A kind of track keeps auxiliary system and track to keep householder method |
| JP6589941B2 (en) * | 2017-06-06 | 2019-10-16 | トヨタ自動車株式会社 | Steering support device |
| CN110329147A (en) * | 2019-07-02 | 2019-10-15 | 南京航空航天大学 | Safe interventional systems and method when steering wheel for vehicle is out of hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109941278A (en) * | 2017-12-20 | 2019-06-28 | 广州汽车集团股份有限公司 | A vehicle control method, device and system based on monitoring driver status |
| CN108162958A (en) * | 2017-12-27 | 2018-06-15 | 长沙理工大学 | A kind of automobile active anti-collision control system and method |
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