CN108099783A - A kind of driving assistance system and its operating method for vehicle - Google Patents
A kind of driving assistance system and its operating method for vehicle Download PDFInfo
- Publication number
- CN108099783A CN108099783A CN201711404364.6A CN201711404364A CN108099783A CN 108099783 A CN108099783 A CN 108099783A CN 201711404364 A CN201711404364 A CN 201711404364A CN 108099783 A CN108099783 A CN 108099783A
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- vehicle
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- barrier
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- 238000011017 operating method Methods 0.000 title description 6
- 230000004888 barrier function Effects 0.000 claims abstract description 47
- 238000003384 imaging method Methods 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of driving assistance systems for vehicle, may include：One or more sensors unit, one or more of sensor units are used to sensing the barrier of vehicle periphery, and sense barrier there are when measure distance between each barrier and vehicle；Wheeled center line determination unit, the wheeled center line determination unit determine wheeled center line of the vehicle on the road currently travelled according to the distance between each barrier and vehicle obtained by one or more of sensor units；And display unit, the display unit are used for the wheeled center line for showing the real-time imaging of present road to driver and being determined by the wheeled center line determination unit.The invention further relates to a kind of methods for operating the driving assistance system.
Description
Technical field
The present invention relates to vehicular field, more particularly it relates to a kind of driving assistance system for vehicle and
Its operating method.
Background technology
Various sensors (such as camera, sonac, radar etc.) are usually mounted on existing vehicle, to sense
The environment of vehicle-surroundings is, for example, real-time imaging that driving vehicle provides vehicle-surroundings etc..
When vehicle on narrow road (such as lane) or congested link when driving, driver need take special care to sentence
Disconnected the distance between vehicle and both sides of the road barrier and space size, to ensure that vehicle is maintained at road center traveling.This is right
It is a kind of challenge for driver, especially new hand driver.If it is determined that it is inaccurate, then easily scratch accident.
In addition, being taken time and effort under crowded environment to the artificial judgment process in optimum drive path, driving difficulty is added,
And it can further aggravate traffic jam situation.
The information for being disclosed in the background technique part is merely intended to deepen the understanding of the general background technology to the present invention, and
It is not construed as recognizing or implies the information structure existing skill known to those skilled in the art in any form
Art.
The content of the invention
Present invention seek to address that the above problem of the prior art, and such a driving for vehicle is provided and aids in system
System：It can help driver more accurately judge present road wheeled region center line (especially when vehicle is narrow
On narrow road when driving), and real-time judge vehicle deviate wheeled region center line degree, so as to improve the peace of driving
Quan Xing.
First embodiment according to the present invention provides a kind of driving assistance system for vehicle, may include：One or
Multiple sensor units, one or more of sensor units are used to sense the barrier of vehicle periphery, and are sensing
Barrier there are when measure the distance between each barrier and vehicle；Wheeled center line determination unit, the wheeled
Center line determination unit is according to the distance between each barrier and vehicle obtained by one or more of sensor units
To determine wheeled center line of the vehicle on the road currently travelled；And display unit, the display unit be used for
The wheeled center line that driver shows the real-time imaging of present road and determined by the wheeled center line determination unit.
Driving assistance system according to the present invention may also include：Center line tracking cell, the center line tracking cell are used
In the wheeled center line that control vehicle tracking is determined by the wheeled center line determination unit.
Preferably, driver by the center line tracking cell manually track vehicle wheeled center line or
The center line tracking cell can be from the wheeled center line of motion tracking vehicle.
Driving assistance system according to the present invention may also include：Distance survey unit, the distance survey unit are used to survey
The spacing between vehicle and other vehicles on the wheeled center line of the vehicle is measured, and is tracking the wheeled center
Ensure that the spacing between vehicle and other vehicles on the wheeled center line of the vehicle is greater than or equal to during line
Predetermined value.
Advantageously, the display unit may also display vehicle and other vehicles on the wheeled center line of the vehicle
Between spacing and vehicle compared with the wheeled center line departure degree.
Specifically, the distance between each barrier and vehicle refer to hanging down in the longitudinal center axis with vehicle
On straight direction, the distance between the edge of vehicle body both sides and corresponding barrier.
Driving assistance system according to the present invention may also include alarm unit, and it is pre- to deviate the wheeled center line in vehicle
The spacing between other vehicles in the case of determining degree or on vehicle and wheeled center line positioned at the vehicle is less than
In the case of predetermined value, which sends alarm to driver.
Wherein, the barrier that the sensor unit can only adjust the distance in vehicle center preset range is sensed, and
The wheeled center line determination unit can be based only upon the distance between barrier and the vehicle in preset range plan
Close out the wheeled center line.
Wherein, the wheeled center line of the vehicle is applied on the real-time imaging for being shown in road.
According to another embodiment of the present invention, a kind of side for being used to operate driving assistance system according to the present invention is provided
Method, this method may include following steps：Sense vehicle periphery barrier, and sense barrier there are when, measurement
Distance on the direction vertical with the longitudinal center axis of vehicle, between the edge of vehicle body both sides and each barrier；It is based on
The distance between each barrier and vehicle determine wheeled center line of the vehicle on the road of current driving；Detect vehicle
With the spacing between the fore-aft vehicle on the wheeled centerline direction of the vehicle；Automatically or manually control vehicle tracking
The wheeled center line, wherein, it is ensured that between vehicle and fore-aft vehicle on the wheeled centerline direction of the vehicle
Spacing be greater than or equal to predetermined value；Show the real-time imaging, wheeled center line, vehicle of present road with being located to driver
Spacing between fore-aft vehicle and vehicle on the wheeled centerline direction of the vehicle is compared with the wheeled center line
Departure degree；And it is somebody's turn to do in the case where vehicle deviates the wheeled center line predetermined extent or in vehicle with being located at
In the case that the spacing between other vehicles on the wheeled center line of vehicle is less than predetermined value, alarm is sent to driver.
Therefore, driving assistance system according to the present invention can be with the part of vehicle, highly or fully automated driving system
It is combined, so as to quickly determine the optimal path (wheeled of suitable vehicle traveling under such as crowded environments such as traffic congestion or lane
Center line), and in the case where the wheeled center line of vehicle is determined, can manually be tracked or by center line by driver
For tracking cell from the motion tracking wheeled center line, the motoring pressure of driver can simultaneously be mitigated by having saved time cost.
By include this paper attached drawing and then together with attached drawing for illustrating the specific reality of some principles of the present invention
Mode is applied, other feature and advantage will be apparent or more specifically said possessed by methods and apparatus of the present invention
It is bright.
Description of the drawings
Specific embodiments of the present invention are further described hereinafter with reference to attached drawing, in the accompanying drawings：
Fig. 1 shows the structure chart of the driving assistance system for vehicle of the first exemplary embodiment according to the present invention；
Fig. 2 shows the structure chart of the driving assistance system for vehicle of the second exemplary embodiment according to the present invention；
Fig. 3 shows the schematic diagram that vehicle according to an exemplary embodiment of the present invention travels in crowded road environment；
Fig. 4 shows the flow chart of the operating method of driving assistance system shown in Fig. 2.
In the accompanying drawings, identical reference numeral refers to the identical or equivalent part of the present invention.
Specific embodiment
Driving assistance system according to the present invention for vehicle is described below with reference to accompanying drawings and by embodiment.
In following description, numerous specific details are set forth to make person of ordinary skill in the field that this hair be appreciated more fully
It is bright.But for the technical staff in technical field it is evident that the realization of the present invention can not have these details
In some.On the contrary, it may be considered that implement the present invention with any combination of following feature and element, regardless of they whether
It is related to different embodiments.Therefore, aspect, feature, embodiment and advantage below is used and is not construed as illustrative purposes only
The element of claim or restriction, unless clearly proposing in the claims.
Fig. 1 shows the structure chart of the driving assistance system 1 for vehicle of the first exemplary embodiment according to the present invention.
As shown in fig. 1, the driving assistance system 1 according to the present invention for vehicle includes one or more sensors unit 10, uses
In sense vehicle periphery barrier and sense barrier there are when measure between each barrier and vehicle away from
From, the distance between barrier and vehicle be preferably on the direction of longitudinal direction of car central axis upright, the side of vehicle body both sides
The distance between edge and corresponding barrier.The system 1 further includes wheeled center line determination unit 10, the wheeled center line
Determination unit 10 for receive by one or more of sensor units 10 be obtained about between barrier and vehicle away from
From information, and wheeled center line of the vehicle on the road currently travelled is determined based on the range information received.
Additionally, system 1 further includes display unit 30, which is used to show by wheeled center to driver
The definite wheeled center line of line determination unit 20, for example, can by the wheeled center line Overlapping display road real-time shadow
As upper.In addition, tracking situation of the vehicle for identified wheeled center line can also be shown on display unit 30, i.e.
Current vehicle position or the current travel direction of vehicle compared with wheeled center line departure degree, so as to which driver can
Quickly and accurately judge the current driving condition of vehicle, to make reply in time, driver is facilitated timely and accurately to adjust vehicle
Position and travel direction, so as to more accurately drive vehicle along road wheeled center line.As an example, display unit 30
It may be embodied as head up display or display function can be implemented by the instrument board on vehicle.
It is worth noting that, in view of the exploitativeness of scheme according to the present invention, sensor unit 10 preferably only to away from
Barrier from (such as in 5 meters) in vehicle center a certain range is sensed, so as to wheeled center line determination unit 20 only
One is fitted for the detection of obstacles result (distance of each barrier of vehicle both sides to vehicle body edge) in the range of this
For the center line of vehicle traveling.During traveling being in due to vehicle, the testing result of sensor unit 10 is according to vehicle
Current location change in real time, and by wheeled center line determination unit 20 determine for vehicle traveling center line
Also update in real time, so as to which the optimal path for traveling can be provided for vehicle in real time, exactly under crowded environment.
Fig. 2 shows the structure chart of the driving assistance system 1 for vehicle of the second exemplary embodiment according to the present invention.
The second embodiment is by the way that the driving assistance system 1 described in Fig. 1 to be combined to realize narrow with the automated navigation system of vehicle
Accurate navigation narrow, in crowded environment and positioning.The embodiment is described in detail below with reference to Fig. 2.
Second exemplary embodiment according to the present invention, except sensor unit 10, the wheeled center line shown in Fig. 1 are true
Beyond order member 20 and display unit 30, distance survey unit 40 is may also include for the driving assistance system 1 of vehicle, the vehicle
Away from measuring unit 40 particularly for measurement vehicle compared with the spacing between other vehicles of vehicle front and back.It should be noted that
It is that designated herein be located at " other vehicles of vehicle front and back " refer to other vehicles on the wheeled center line of vehicle
.
In addition, system 1 may also include center line tracking cell 50, receive from wheeled center line determination unit 20
The information related with wheeled center line, and vehicle is controlled from the motion tracking wheeled center line.Wherein, it is automatic in control vehicle
During tracking the wheeled center line, it may be considered that vehicle is front and rear on the wheeled centerline direction of the vehicle with being located at
Spacing between vehicle, it is preferable that it should be ensured that the spacing is greater than or equal to predetermined value during tracking, thus avoid with before
Rear vehicle collides.Therefore, according to the second embodiment, under crowded environment, except preventing vehicle from being sent out with peripheral obstacle
Life is scratched beyond accident, additionally it is possible to avoid colliding between the fore-aft vehicle being located on same driving path.
For example, center line tracking cell 50 can be a part for the automated navigation system of vehicle, under crowded environment
Make vehicle based on the wheeled center line determined by wheeled center line determination unit 20 to implement the self-navigation of vehicle.At this
In the case of kind, driver need not control vehicle manually, but by the automated navigation system of vehicle from motion tracking limited road
Optimal driving path (that is, wheeled center line).And it is possible to present road is shown to driver by display unit 30
Real-time imaging, the center line for vehicle traveling, the front-and-rear vehicle distance on the wheeled centerline direction and vehicle are feasible to this
Sail the tracking situation of center line.In the case where implementing self-navigation, driver still can intervene hand to vehicle if needed
Dynamic operation.That is, driving assistance system according to the present invention can be integrated in the part of vehicle, highly or fully drive automatically
It sails in system.
In addition, system 1 may also include alarm unit 60, in the case where vehicle deviates wheeled center line to a certain degree,
Or the spacing between the fore-aft vehicle on the wheeled center line, when being less than predetermined value, the alarm unit 60 is to driving
Member sends alarm.
Fig. 3 is the schematic diagram travelled according to the vehicle of exemplary embodiment of the present in crowded road environment.Such as Fig. 3
Shown in, when vehicle under crowded environment when driving, such as travelled in lane, it is possible that surrounding vehicle on road
Various barriers, such as bicycle, dustbin, instruction mark post, distribution box, seat that park etc., assume herein only to vehicle
Front is sensed positioned at apart from a certain range of barrier of vehicle center, as shown in the dotted line sector region in Fig. 3, root
Detection of obstacles result (each barrier of vehicle both sides that can be directed to according to the driving assistance system of the present invention in the sector region
To the distance at vehicle body edge) fit a center line for vehicle traveling.During traveling being in due to vehicle,
Changed in real time according to the current location of vehicle with the testing result of the distance dependent of barrier, so as to identified for vehicle
The center line of traveling is also updated in real time.
Fig. 4 shows the flow chart of the operating method of driving assistance system according to a second embodiment of the present invention.Join below
The step S101 to S106 in Fig. 4 is examined the idiographic flow of the operating method of the driving assistance system is described in detail.
First, in step S101, sense vehicle periphery barrier and sense barrier there are when measure
The distance between each barrier and vehicle, preferably measure on the direction of longitudinal direction of car central axis upright, vehicle body both sides
The distance between edge and corresponding barrier.
Secondly, in step s 102, based on the distance between each barrier obtained in step S101 and vehicle information
To determine wheeled center line of the vehicle on the road currently travelled.Wherein, preferably only adjust the distance the certain model of vehicle center
The barrier of (such as in 5 meters) is sensed in enclosing, and in the range of this detection of obstacles result (in longitudinal direction of car
The distance between the edge of vehicle body both sides and corresponding barrier on the vertical direction of mandrel line) one is fitted for vehicle row
The center line sailed.
Then, in step s 103, vehicle and the fore-aft vehicle on the wheeled centerline direction of the vehicle are measured
Between spacing.
And then in step S104, automatically or manually control in the wheeled that vehicle tracking obtains in step S101
Heart line, during the tracking, it is ensured that between vehicle and fore-aft vehicle on the wheeled centerline direction of the vehicle
Spacing is greater than or equal to predetermined value.Therefore, under crowded environment, except prevent vehicle and peripheral obstacle scratch accident with
Outside, additionally it is possible to avoid colliding between the fore-aft vehicle being located on same driving path.In the case where automatically controlling, such as
It can be by the automated navigation system of vehicle from the optimal driving path (that is, wheeled center line) on motion tracking limited road.
Also, in step S105, by the head up display on vehicle or by the instrument board on vehicle to driver
Show real-time imaging, wheeled center line, the front-and-rear vehicle distance and vehicle on the wheeled centerline direction of present road
To the tracking situation of the wheeled center line.
Finally, in step s 106, wheeled center line is deviateed to a certain degree or in the wheeled in vehicle
In the case that the spacing between fore-aft vehicle on heart line is less than predetermined value, alarm is sent to driver.
In conclusion the driving assistance system according to the present invention for vehicle can help driver more accurately to judge
The center line (especially when vehicle on narrow road when driving) in the wheeled region of present road, and real-time judge vehicle
Deviate the degree of the center line in wheeled region, so as to improve the security of driving.
In the present invention, it will appreciated by the skilled person that disclosed system can be by another way
It realizes.For example, system embodiment described above is only schematical, for example, the division of the module is only one
Kind of division of logic function, can there is an other dividing mode in actual implementation, for example, multiple modules function can combine or
The function of some module can further be split.Sensor unit, wheeled center in the driving assistance system of the present invention
Line determination unit, display unit, center line tracking cell, distance survey unit, alarm unit etc. can be integrated in a processing
In unit or modules are individually physically present, can also two or more modules integrate in a unit.
Above-mentioned integrated module both may be employed hardware form realize, can also be realized in the form of SFU software functional unit or
The form that soft and hardware combination can be used is realized.
Although the present invention has been disclosed in the preferred embodiments as above, the present invention is not limited to this.Do not departing from the present invention's
The various changes made in spirit and scope and modification, should all include in protection scope of the present invention, therefore the protection of the present invention
Scope should be subject to claim limited range.
Claims (10)
1. a kind of driving assistance system (1) for vehicle, which is characterized in that the system includes：
One or more sensors unit (10), one or more of sensor units are used to sense the obstacle of vehicle periphery
Object, and sense barrier there are when measure distance between each barrier and vehicle；
Wheeled center line determination unit (20), the wheeled center line determination unit is according to by one or more of sensings
Each barrier and the distance between vehicle that device unit (10) obtains determine vehicle on the road currently travelled can
Travel center line；And
Display unit (30), the display unit are used to show the real-time imaging of present road and by described feasible to driver
Sail the definite wheeled center line of center line determination unit (20).
2. the driving assistance system (1) according to claim 1 for vehicle, which is characterized in that the system further includes：
Center line tracking cell (50), the center line tracking cell are used to control vehicle tracking true by the wheeled center line
The definite wheeled center line of order member (20).
3. the driving assistance system (1) according to claim 2 for vehicle, which is characterized in that driver is by described
Center line tracking cell (50) manually tracks the wheeled center line of vehicle or the center line tracking cell (50) can
From the wheeled center line of motion tracking vehicle.
4. the driving assistance system (1) according to claim 2 for vehicle, which is characterized in that the system further includes：
Distance survey unit (40), the distance survey unit are used to measure vehicle and the wheeled center line positioned at the vehicle
Other vehicles between spacing, and ensure during the wheeled center line is tracked vehicle with positioned at the vehicle can
The spacing travelled between other vehicles on center line is greater than or equal to predetermined value.
5. the driving assistance system (1) according to claim 4 for vehicle, which is characterized in that the display unit
(30) spacing and vehicle phase between vehicle and other vehicles on the wheeled center line of the vehicle can also be shown
For the departure degree of the wheeled center line.
6. the driving assistance system (1) according to any one of claim 1 to 5 for vehicle, which is characterized in that described
The distance between each barrier and vehicle refer on the direction vertical with the longitudinal center axis of vehicle, vehicle body both sides
The distance between edge and corresponding barrier.
7. the driving assistance system (1) according to any one of claim 1 to 5 for vehicle, which is characterized in that this is
System further includes alarm unit (60), in the case where vehicle deviates the wheeled center line predetermined extent or vehicle with
In the case that the spacing between other vehicles on the wheeled center line of the vehicle is less than predetermined value, the alarm unit to
Driver sends alarm.
8. the driving assistance system (1) according to any one of claim 1 to 5 for vehicle, which is characterized in that described
The barrier that sensor unit (10) is only adjusted the distance in vehicle center preset range is sensed, and the wheeled center line
Determination unit (20) is based only upon the distance between the barrier in the preset range and vehicle and fits in the wheeled
Heart line.
9. the driving assistance system (1) according to any one of claim 1 to 5 for vehicle, which is characterized in that described
The wheeled center line of vehicle is applied on the real-time imaging for being shown in road.
10. a kind of method for operating driving assistance system according to any one of claim 1 to 9, feature exists
In this method comprises the following steps：
Sense vehicle periphery barrier, and sense barrier there are when, measure in the vertical central axis with vehicle
On the vertical direction of line, the distance between the edge of vehicle body both sides and each barrier (S101)；
Wheeled center line of the vehicle on the road of current driving is determined based on the distance between each barrier and vehicle
(S102)；
Detect the spacing (S103) between vehicle and fore-aft vehicle on the wheeled centerline direction of the vehicle；
Wheeled center line (S104) described in vehicle tracking is automatically or manually controlled, wherein, it is ensured that vehicle is with being located at the vehicle
Wheeled centerline direction on fore-aft vehicle between spacing be greater than or equal to predetermined value；
The wheeled center of the real-time imaging, wheeled center line, vehicle of present road with being located at the vehicle is shown to driver
Spacing between fore-aft vehicle and vehicle on line direction compared with the wheeled center line departure degree (S105)；With
And
In the case where vehicle deviates the wheeled center line predetermined extent or in vehicle and the wheeled positioned at the vehicle
In the case that the spacing between other vehicles on center line is less than predetermined value, alarm (S106) is sent to driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711404364.6A CN108099783A (en) | 2017-12-22 | 2017-12-22 | A kind of driving assistance system and its operating method for vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711404364.6A CN108099783A (en) | 2017-12-22 | 2017-12-22 | A kind of driving assistance system and its operating method for vehicle |
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| Publication Number | Publication Date |
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| CN108099783A true CN108099783A (en) | 2018-06-01 |
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ID=62212264
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711404364.6A Pending CN108099783A (en) | 2017-12-22 | 2017-12-22 | A kind of driving assistance system and its operating method for vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696743A (en) * | 2018-07-09 | 2020-01-17 | 现代摩比斯株式会社 | Wide-area all-round monitoring device for vehicle and control method thereof |
| CN113302105A (en) * | 2019-01-15 | 2021-08-24 | 日产自动车株式会社 | Driving assistance method and driving assistance device |
| CN114249078A (en) * | 2021-12-10 | 2022-03-29 | 广东智源机器人科技有限公司 | Track identification positioning method |
-
2017
- 2017-12-22 CN CN201711404364.6A patent/CN108099783A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696743A (en) * | 2018-07-09 | 2020-01-17 | 现代摩比斯株式会社 | Wide-area all-round monitoring device for vehicle and control method thereof |
| CN110696743B (en) * | 2018-07-09 | 2023-12-26 | 现代摩比斯株式会社 | Wide area looking around monitoring device for vehicle and control method thereof |
| CN113302105A (en) * | 2019-01-15 | 2021-08-24 | 日产自动车株式会社 | Driving assistance method and driving assistance device |
| CN114249078A (en) * | 2021-12-10 | 2022-03-29 | 广东智源机器人科技有限公司 | Track identification positioning method |
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Application publication date: 20180601 |