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CN114559934B - A method and system for protecting a vehicle from a small offset collision - Google Patents

A method and system for protecting a vehicle from a small offset collision

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Publication number
CN114559934B
CN114559934B CN202210181291.3A CN202210181291A CN114559934B CN 114559934 B CN114559934 B CN 114559934B CN 202210181291 A CN202210181291 A CN 202210181291A CN 114559934 B CN114559934 B CN 114559934B
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CN
China
Prior art keywords
vehicle
collision
small offset
area
lane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
CN202210181291.3A
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Chinese (zh)
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CN114559934A (en
Inventor
宋冲冲
高保才
王杰明
刘晓义
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Geely Holding Group Co Ltd
Geely Automobile Research Institute Ningbo Co Ltd
Original Assignee
Zhejiang Geely Holding Group Co Ltd
Geely Automobile Research Institute Ningbo Co Ltd
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Application filed by Zhejiang Geely Holding Group Co Ltd, Geely Automobile Research Institute Ningbo Co Ltd filed Critical Zhejiang Geely Holding Group Co Ltd
Priority to CN202210181291.3A priority Critical patent/CN114559934B/en
Publication of CN114559934A publication Critical patent/CN114559934A/en
Application granted granted Critical
Publication of CN114559934B publication Critical patent/CN114559934B/en
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Classifications

    • 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
    • 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
    • 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
    • B60W40/02—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 ambient conditions
    • 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
    • B60W2030/082—Vehicle operation after collision

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

本发明提供了一种车辆小偏置碰撞的保护方法及系统，属于汽车技术领域。它解决了现有的技术无法规避小偏置碰撞，仍会对驾乘人员造成较大伤害的问题。本车辆小偏置碰撞规避方法包括：在自车与同车道前方非生命体障碍物存在无法避免的碰撞风险时，判断自车左右侧是否存在安全行驶区域；若存在安全行驶区域，车辆根据规划的换道路径执行紧急转向；若不存在安全行驶区域，在判断自车与前方非生命体障碍物存在小偏置碰撞且自车的纵梁位于碰撞区域内时，车辆根据调整后的行驶路径执行转向动作，用于增大自车碰撞面积或使自车碰撞区域远离车辆的纵梁，同时控制车辆进行紧急制动。本发明能够减轻乘员伤害。

The present invention provides a method and system for protecting a vehicle from a small offset collision, and belongs to the field of automotive technology. It solves the problem that existing technologies cannot avoid small offset collisions and still cause great harm to drivers and passengers. The method for avoiding small offset collisions of a vehicle includes: when there is an unavoidable risk of collision between the vehicle and a non-living obstacle in front of the same lane, judging whether there are safe driving areas on the left and right sides of the vehicle; if there is a safe driving area, the vehicle performs an emergency turn according to the planned lane change path; if there is no safe driving area, when it is judged that there is a small offset collision between the vehicle and the non-living obstacle in front and the longitudinal beam of the vehicle is within the collision area, the vehicle performs a steering action according to the adjusted driving path, which is used to increase the collision area of the vehicle or move the collision area of the vehicle away from the longitudinal beam of the vehicle, and at the same time control the vehicle to perform emergency braking. The present invention can reduce injuries to passengers.

Description

Protection method and system for small offset collision of vehicle
Technical Field
The invention belongs to the technical field of automobiles, and relates to a protection method and a system for small offset collision of a vehicle.
Background
With the development of economy, automobiles have been moved into thousands of households as a walking aid, and automobile safety has become a focus of attention while bringing convenience to people's travel. In the current actual traffic accident or test and test process, the collision protection is mainly carried out through an airbag, the protection algorithm is mainly carried out on the basis of mechanical acceleration signals during the collision of the automobile, the calculation of acceleration integration, time domain and frequency domain is compared with an ignition threshold value, and if the ignition condition is met, the high-current ignition airbag is generated. However, when a high-speed small offset collision occurs, the small offset collision has great damage and embedding amount to the longitudinal beams, the tires and the A columns of the automobile, seriously extrudes the passenger cabin and causes fatal injury to passengers, even if the air bags are exploded out, the injury value of a driver cannot be effectively reduced, and in addition, the small offset collision is different from the traditional 100% frontal collision and 40% offset collision in that the 1-overlapping amount is smaller. This results in the front crash Liang Hennan for crush energy absorption of the conventional design taking part in its function. 2. A rigid barrier. Conventional deformable barriers deform and absorb a portion of the energy during testing, but rigid barriers are not.
In view of the above-mentioned problems, the current industry mainly strengthens the body structure on the driver side to absorb collision energy or as disclosed in chinese literature, a collision mitigation method and apparatus for a vehicle, the method comprising acquiring deformation signals at both sides of the front end of the body of the vehicle; the method comprises the steps of judging deformation signals, recording one side of a vehicle body where an obstacle generated by the deformation signals is located as a collision side when the deformation signals are only one, recording the other side of the vehicle body opposite to the collision side as a non-collision side, acquiring longitudinal collision intensity signals when the obstacle acts on the vehicle body, judging the longitudinal collision intensity signals, and controlling the wheels on the non-collision side to brake when the intensity value corresponding to the longitudinal collision intensity signals is smaller than a preset intensity threshold value. The invention can reduce the collision of the main structure of the passenger cabin or completely avoid the obstacle and improve the safety in the working condition of small offset collision by applying braking to the wheels at the non-collision side to lead the vehicle to deviate from the obstacle in the transverse direction on the premise of not obviously increasing weight of the front end structure of the vehicle body, but the invention can not avoid the small offset collision and can still cause great injury to drivers and passengers when the collision happens.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a protection method and a system for small offset collision of a vehicle, which aims to solve the technical problem of how to reduce the injury of passengers.
The invention aims at realizing the following technical scheme that the protection method for the small offset collision of the vehicle comprises the following steps:
judging whether a safe driving area exists on the left side and the right side of the own vehicle when the collision risk unavoidable exists between the own vehicle and a non-living body obstacle in front of the same lane;
if a safe driving area exists, the vehicle executes emergency steering according to the planned road changing path;
If the safe driving area does not exist, judging whether the self-vehicle collides with the front inanimate object in a small offset way and the longitudinal beam of the self-vehicle is positioned in the collision area, if the two conditions are yes, the vehicle executes steering action according to the adjusted driving path so as to increase the collision area of the self-vehicle or enable the collision area of the self-vehicle to be far away from the longitudinal beam of the vehicle, and meanwhile, the vehicle is controlled to perform emergency braking, and if any condition is not, the original driving path is continued to work and the vehicle is controlled to perform emergency braking.
The working principle of the protection method for the small offset collision of the vehicle is that when the collision risk exists between the vehicle and the front non-living body obstacle on the same lane and the collision cannot be avoided, namely the collision risk which cannot be avoided by emergency braking exists, whether the left side and the right side of the vehicle have a safe driving area or not is judged, namely the safe driving area for safely changing lanes of the vehicle can be realized, and the collision between the vehicle and the front non-living body obstacle is avoided. The vehicle is provided with a safety driving area, a safety driving area is arranged on the left side and the right side of the vehicle, the vehicle executes emergency steering according to a planned road changing path, if the safety driving area is not arranged on the left side and the right side of the vehicle, whether a longitudinal beam of the vehicle is in a small offset collision area of the vehicle and a front non-living body obstacle or not, namely, if the area contacted by the vehicle is smaller than 40% of the width of the vehicle when the vehicle collides with the front non-living body obstacle or not, if the area contacted by the vehicle is smaller than 40% of the width of the vehicle and the longitudinal beam area of the vehicle is included in the collision area, the longitudinal beam of the vehicle is judged to be in the small offset collision area of the vehicle and the front non-living body obstacle, and if the collision area collides with the vehicle, serious injury is caused to passengers in a cab or passengers in a passenger cab, and in order to avoid serious injury to the passengers, after the vehicle is adjusted to enable the vehicle to steer according to the adjusted driving path, the collision position of the vehicle and the front non-living body obstacle is adjusted to be the vehicle, so that the collision area of the vehicle is increased, or if the non-living body obstacle is smaller than 40% of the width of the vehicle, the vehicle is included in the area of the vehicle, the vehicle is more than 40%, the vehicle is judged to be in the small offset collision area, the collision area of the passenger side of the vehicle and the passenger is further, and the passenger injury is controlled, and the passenger in front side of the vehicle can be greatly damaged.
In the method for protecting a small offset collision of a vehicle, the operation of judging that the collision risk unavoidable exists between the own vehicle and a non-living body obstacle in front of the same lane comprises the following steps:
acquiring speed information of a vehicle, relative distance information and relative speed information of the vehicle and a non-living body obstacle in front in real time;
And calculating the acquired relative distance information and relative speed information, acquiring the relative collision time in real time, judging that collision risk exists when the relative collision time is smaller than a preset time threshold value, acquiring a safe braking distance according to the self-vehicle speed information, and judging that collision risk cannot be avoided between the self-vehicle and a non-living body obstacle in front of the same lane when the safe braking distance is larger than the relative distance acquired in real time.
In the above-described protection method for a small offset collision of a vehicle, the operation of determining whether a safe running area exists on the left and right sides of the own vehicle includes:
Detecting whether a lane capable of being driven by the vehicle exists on the left side and the right side of the self-vehicle, if the lane capable of being driven by the vehicle exists, comparing the relative distance between the self-vehicle and the vehicle driven on the adjacent lane with a safety lane change distance threshold value in real time, and judging that a safety driving area exists on the left side and the right side of the self-vehicle when the relative distance is larger than the safety lane change distance threshold value;
if no lane through which the vehicle can run exists or the relative distance between the own vehicle and the running vehicle on the adjacent lane is smaller than the safety lane change distance threshold value, judging that no safety running area exists on the left side and the right side of the own vehicle.
In the above-described protection method for a small offset collision of a vehicle, the operation of determining whether a safe driving area exists on the left and right sides of the host vehicle further includes:
Detecting whether a turn signal lamp of a vehicle behind the same lane of the vehicle is turned on or not when lanes through which the vehicle can run exist on the left side and the right side of the vehicle;
if the left steering lamp is turned on and only the adjacent left side of the vehicle has a lane through which the vehicle can travel, judging that no safe traveling area exists on the left side and the right side of the vehicle;
If the left turn light is turned on and lanes through which the vehicle can run exist on the left side and the right side adjacent to the vehicle, judging that a safe running area exists on the right side of the vehicle;
if the right steering lamp is turned on and only the right side adjacent to the vehicle has a lane through which the vehicle can travel, judging that no safe traveling area exists on the left side and the right side of the vehicle;
If the right turn light is turned on and lanes through which the vehicle can run exist on the left side and the right side adjacent to the vehicle, judging that a safe running area exists on the left side of the vehicle;
and if the turn signal lamp of the vehicle behind the same lane of the vehicle is not turned on, judging that a safe driving area exists on the left side and the right side of the vehicle. When the situation that whether the vehicle behind the same lane has steering action or not can be accurately judged through the state signals of the steering lamps, the accuracy of judging whether the left side and the right side of the vehicle have a safe driving area or not can be further improved, and the safety is improved for collision avoidance of the vehicle.
In the above protection method for small offset collision of a vehicle, if a safe driving area exists, the vehicle further includes, before the emergency steering is executed according to the planned road-changing path:
Judging whether the self-vehicle has small offset collision risk with a front inanimate object obstacle in the lane change process according to the planned lane change path, and executing emergency steering according to the planned lane change path when the small offset collision risk does not exist;
When the small offset collision risk exists, continuously judging whether the small offset collision exists between the self-vehicle and the non-living obstacle in front on the original running path and whether the longitudinal beam of the self-vehicle is positioned in the collision area, if the two conditions are yes, the vehicle executes steering action according to the adjusted running path so as to increase the collision area of the self-vehicle or enable the collision area of the self-vehicle to be far away from the longitudinal beam of the vehicle, and meanwhile, the vehicle is controlled to perform emergency braking, and if any condition is not, the working of the original running path is continued and the vehicle is controlled to perform emergency braking. The operation of the step can avoid the risk of small offset collision in the lane changing process, avoid more serious injury caused by lane changing, and further provide guarantee for the driving safety of the vehicle.
In the method for protecting the small offset collision of the vehicle, the road changing path is generated according to the steering angle.
In the protection method for the small offset collision of the vehicle, the steering angle is determined according to the real-time speed of the vehicle and the relative distance between the vehicle and the non-living body obstacle in front.
In the method for protecting the small offset collision of the vehicle, the steering angle is obtained by taking the real-time speed of the vehicle and the relative distance between the vehicle and the non-living obstacle in front as input parameters and inquiring a preset steering angle planning table.
The steering angle planning table consists of three parameters, namely steering angle, speed and relative distance, wherein each speed and each relative distance respectively correspond to one steering angle, and the steering angle planning table can be obtained through multiple tests.
In the protection method for the small offset collision of the vehicle, when the collision risk of the own vehicle and the non-living body obstacle in front of the same lane is judged, the pre-tightening action is executed by the vehicle safety belt. The protection method for the small offset collision of the vehicle can reduce the forward impact force of the passengers and reduce the injury of the passengers by the pre-tightening operation of the safety belt.
A protection system for a small offset collision of a vehicle, the system comprising a vehicle-mounted controller, an emergency braking system, a vehicle steering system and a vehicle-mounted sensing device for detecting the relative distance and relative speed of inanimate objects and a drivable area within 360 degrees of a vehicle-to-vehicle, wherein the emergency braking system, the vehicle steering system and the vehicle-mounted sensing device are connected with the vehicle-mounted controller, and the vehicle-mounted controller comprises:
The collision risk judging module is used for judging whether unavoidable collision risks exist between the own vehicle and the non-living body obstacle in front of the same lane according to the relative distance and the relative speed between the own vehicle and the non-living body obstacle in front of the same lane;
The safety area analysis module is used for judging whether a safety driving area exists on the left side and the right side of the own vehicle according to the detected driving area and by combining the relative distance and the relative speed between the own vehicle and the vehicle driving on the adjacent lane;
The small offset collision judging module is used for judging whether the self-vehicle and the front inanimate object obstacle have small offset coincidence degree;
the first control module is used for outputting a control instruction for controlling the vehicle to carry out emergency steering according to the planned road changing path when unavoidable collision risks exist and a safe driving area exists on the left side and the right side of the vehicle;
The second control module is used for outputting a path adjustment control instruction for increasing the collision area of the own vehicle or enabling the collision area of the own vehicle to be far away from a vehicle longitudinal beam and outputting a control instruction for emergency braking when unavoidable collision risks exist, safety running areas do not exist on the left side and the right side of the own vehicle, the own vehicle collides with a front inanimate object obstacle in a small offset mode and the own longitudinal beam is located in the collision area;
The vehicle steering system is used for steering according to the control instruction output by the first control module or the second control module;
the emergency braking system is used for performing emergency braking according to the control instruction output by the second control module.
The working principle of the protection system for the small offset collision of the vehicle is that in the running process of the vehicle, the vehicle-mounted sensing equipment detects the relative distance and the relative speed of the vehicle and the inanimate object obstacle within the 360-degree range of the vehicle and the drivable area and transmits the detected relative distance and the relative speed to the vehicle-mounted controller, a collision risk judging module in the vehicle-mounted controller calculates to obtain the relative collision time according to the relative distance and the relative speed of the vehicle and the front inanimate object obstacle, when the relative collision time is smaller than a preset time threshold value, the collision risk is judged, and the vehicle-mounted controller further calculates the speed information of the vehicle-mounted sensing equipment to obtain the safe braking distance, and when the safe braking distance is larger than the relative distance obtained by the vehicle-mounted sensing equipment in real time, the collision cannot be avoided by starting the emergency braking system. When the judgment result transmitted by the safety area analysis module is that the safety driving area exists on the left and right sides of the own vehicle, a control instruction for controlling the vehicle to carry out emergency steering according to the planned road changing path is output, at the moment, the vehicle steering system carries out emergency steering according to the planned road changing path, thereby realizing the vehicle safety road changing, avoiding the situation of collision with a front collision object, improving the safety, and when the judgment result transmitted by the safety area analysis module is that the safety driving area does not exist on the left and right sides of the own vehicle and the judgment result transmitted by the small offset collision judgment module is in the small offset collision area of the own vehicle with a front non-living body obstacle, the control instruction for adjusting the driving path and the control instruction for outputting the emergency braking are output by the first control module, and the vehicle steering system controls the vehicle to carry out emergency steering according to the planned road changing path, thereby avoiding the situation of collision with the front collision object, improving the safety of the vehicle, reducing the safety collision area of the front collision object, and reducing the serious collision area of the vehicle and the front collision object.
In the protection system for small offset collision of the vehicle, the vehicle-mounted sensing device comprises a plurality of cameras, a plurality of laser radars and a plurality of millimeter wave radars distributed around the vehicle, and each camera, each laser radar and each millimeter wave radar are connected with the vehicle-mounted controller.
In the protection system for the small offset collision of the vehicle, the system further comprises a safety belt pre-tightening system for performing a safety belt pre-tightening action when the collision risk of the vehicle is judged, and the safety belt pre-tightening system is connected with the vehicle-mounted controller.
Compared with the prior art, the protection method and the system for the small offset collision of the vehicle have the following advantages:
1. the invention can adopt corresponding safety measures to avoid collision when collision risk exists or reduce the damage caused by collision as much as possible when collision cannot be avoided, thereby effectively reducing the damage of passengers.
2. According to the invention, when small offset collision occurs, the running path is adjusted to avoid the working condition of the small offset collision, so that serious injury caused by the small offset collision is reduced, and the running safety of the vehicle is improved to a certain extent.
Drawings
Fig. 1 is a control flow chart of the present invention.
Fig. 2 is a schematic structural view of the present invention.
In the figure, 1, a vehicle-mounted controller, 11, a collision risk judging module, 12, a safety area analyzing module, 13, a small offset collision judging module, 14, a first control module, 15, a second control module, 2, a vehicle-mounted sensing device, 21, a camera, 22, a laser radar, 23, a millimeter wave radar, 3, an emergency braking system, 4, a vehicle steering system and 5, a safety belt pre-tightening system.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
As shown in fig. 2, the protection system of the present vehicle small offset collision includes a vehicle-mounted controller 1, an emergency braking system 3 connected to the vehicle-mounted controller 1, a vehicle steering system 4, a seatbelt pretensioning system 5 for performing a seatbelt pretensioning action when judging that there is a collision risk of the vehicle, and a vehicle-mounted sensing device 2 for detecting a relative distance and a relative speed of a non-living obstacle and a travelable area within a 360 degree range from a host vehicle to the host vehicle, the vehicle-mounted sensing device 2 including a plurality of cameras 21, a plurality of lidars 22 and a plurality of millimeter wave radars 23 distributed around the vehicle, each camera 21, each lidar 22 and each millimeter wave radar 23 being connected to the vehicle-mounted controller 1. By arranging the cameras 21, the laser radars 22 and the millimeter wave radars 23 around the vehicle, the detection of the information such as the type of the non-living body obstacle, the relative distance between the non-living body obstacle and the non-living body obstacle, the relative speed, the acceleration, the azimuth angle, the height and the width of the non-living body obstacle, the drivable area and the like in the 360-degree range around the vehicle is realized, the functions of the cameras 21, the laser radars 22 and the millimeter wave radars 23 are complementary, and the accurate detection of the data information in the 360-degree range of the vehicle is realized.
The in-vehicle controller 1 includes:
a collision risk judging module 11 for judging whether or not there is a collision risk between the own vehicle and the non-living body obstacle ahead of the same lane according to the relative distance and relative speed between the own vehicle and the non-living body obstacle ahead and whether or not collision cannot be avoided by starting the emergency braking system 3;
The safety area analysis module 12 is used for judging whether a safety driving area exists on the left side and the right side of the own vehicle according to the detected driving area and combining the relative distance and the relative speed between the own vehicle and the vehicle driving on the adjacent lane;
A small offset collision judging module 13 for judging whether the self-vehicle and the front inanimate object obstacle have a small offset coincidence ratio;
The first control module 14 is configured to output a control command for controlling the vehicle to perform emergency steering according to the planned road changing path when collision cannot be avoided by starting the emergency braking system 3 and a safe driving area exists on the left and right sides of the vehicle;
A second control module 15 for outputting a control instruction to increase the frontal collision area of the own vehicle and the front inanimate object according to the adjusted travel path and outputting a control instruction for emergency braking when the collision cannot be avoided by starting the emergency braking system 3, the safety travel area does not exist on the left and right sides of the own vehicle, and it is judged that the small offset collision exists between the own vehicle and the front inanimate object and the longitudinal beam of the own vehicle is located in the small offset collision area;
The vehicle steering system 4 is used for steering according to the control instruction output by the first control module 14 or the second control module 15;
The emergency braking system 3 is used for performing emergency braking according to a control command output by the second control module 15.
As shown in fig. 1, the protection method for the small offset collision of the own vehicle is a method realized based on the protection system for the small offset collision of the own vehicle in fig. 2, and when the vehicle-mounted controller 1 judges that the collision risk exists between the own vehicle and the non-living body obstacle in front of the same lane and the collision cannot be avoided by starting the emergency braking system 3, the vehicle-mounted controller judges whether a safe driving area exists on the left side and the right side of the own vehicle;
firstly, acquiring the speed information of a vehicle, the relative distance information and the relative speed information of the vehicle and a front non-living body obstacle in real time through the vehicle-mounted sensing equipment 2, wherein the front non-living body obstacle can be a vehicle, a pedestrian, an article and the like;
Calculating the relative distance information and the relative speed information sent by the vehicle-mounted sensing equipment 2 through the vehicle-mounted controller 1 to obtain the relative collision time in real time, judging that collision risk exists when the relative collision time is smaller than a preset time threshold value, otherwise, judging that collision risk does not exist when the relative collision time is larger than a preset force threshold value, and continuing running of the vehicle;
when judging that collision risk exists between the vehicle and the front collision, the vehicle-mounted controller 1 further calculates the vehicle speed information conveyed by the vehicle-mounted sensing equipment 2 to obtain a safe braking distance, when the safe braking distance is smaller than the relative distance obtained by the vehicle-mounted sensing equipment 2 in real time, the emergency braking system 3 is started to avoid collision, the emergency braking system 3 is started to perform emergency braking, the safety belt pretensioning system 5 is used for carrying out safety protection on passengers, and otherwise, when the safe braking distance is larger than the relative distance obtained by the vehicle-mounted sensing equipment 2 in real time, the emergency braking system 3 is started to avoid collision.
When collision cannot be avoided by starting the emergency braking system 3, judging whether a safe driving area exists on the left side and the right side of the vehicle;
The vehicle-mounted sensing device 2 detects whether a lane capable of passing through a vehicle exists on the left side and the right side of the vehicle, when detecting that only the lane capable of passing through the vehicle exists on the left side of the vehicle, the vehicle-mounted sensing device 2 further detects whether a traveling vehicle exists on an adjacent lane on the left side of the vehicle, and if the traveling vehicle does not exist, the vehicle-mounted sensing device judges that a safe traveling area exists on the left side of the vehicle;
Or when detecting that only the right side of the vehicle has a lane through which the vehicle can travel, the vehicle-mounted sensing equipment 2 further detects whether the vehicle is traveling on an adjacent lane on the right side of the vehicle, if the vehicle is not traveling, the vehicle-mounted controller judges that a safe traveling area is present on the right side of the vehicle;
Or when detecting that the vehicle can pass through the lanes on the left side and the right side of the vehicle, the vehicle-mounted sensing equipment 2 further detects whether the vehicle is in the adjacent lanes on the left side and the right side of the vehicle, if the vehicle is not in the left side and the right side, the safety driving area is judged to be in the left side and the right side of the vehicle, otherwise, if the vehicle is in the left side and the right side, the relative distance between the vehicle and the vehicle is detected, the detected relative distance is compared with a safety lane change distance threshold value through the vehicle-mounted controller 1, when the relative distance on one side is greater than the safety lane change distance threshold value, the safety driving area is judged to be in the side of the vehicle, otherwise, when the relative distance between the vehicle and the vehicle is in the adjacent lanes on the left side and the right side is less than the safety lane change distance threshold value, the safety driving area is judged to be in the left side and the right side of the vehicle.
Detecting whether a turn signal lamp of a vehicle behind the same lane of the vehicle is turned on or not when lanes through which the vehicle can run exist on the left side and the right side of the vehicle;
If the left steering lamp is turned on and a lane through which the vehicle can run exists only on the left side adjacent to the vehicle, judging that a safe running area does not exist on the left side and the right side of the vehicle;
If the left turn light is turned on and lanes through which the vehicle can run exist on the left side and the right side adjacent to the vehicle, judging that a safe running area exists on the right side of the vehicle;
If the right steering lamp is turned on and a lane through which the vehicle can run exists only on the right side adjacent to the vehicle, judging that a safe running area does not exist on the left side and the right side of the vehicle;
If the right turn light is turned on and lanes through which the vehicle can run exist on the left side and the right side adjacent to the vehicle, judging that a safe running area exists on the left side of the vehicle;
And if the turn signal lamp of the vehicle behind the same lane of the vehicle is not turned on, judging that the left side and the right side of the vehicle have safe driving areas.
When a safe driving area exists on the left side and/or the right side of the vehicle, the vehicle-mounted controller 1 controls the vehicle to trigger the vehicle steering system 4 to carry out emergency steering according to the planned road changing path;
When a safe driving area exists on the left side and/or the right side of the vehicle, the vehicle-mounted controller 1 firstly plans a lane changing path, such as lane changing leftwards or lane changing rightwards, and changes lanes according to a steering angle, wherein the steering angle is obtained by pre-storing a steering angle planning table in the vehicle-mounted controller 1 and comparing the real-time speed of the vehicle detected by the vehicle-mounted sensing equipment 2 and the relative distance between the vehicle-mounted sensing equipment and a front inanimate object with the preset steering angle planning table;
And the vehicle-mounted controller 1 also judges whether the own vehicle has small offset collision risk with a front inanimate object obstacle in the course of changing the road according to the planned road changing path, when the small offset collision risk exists, the vehicle steering system 4 is restrained from acting, the emergency braking system 3 is started to perform emergency braking, and when the small offset collision risk does not exist, the vehicle-mounted controller 1 controls the vehicle to trigger the vehicle steering system 4 to perform emergency steering according to the planned road changing path.
When the left side and the right side of the vehicle do not have a safe driving area, the vehicle-mounted controller 1 judges whether the vehicle collides with the front non-living obstacle with small offset, when judging that the vehicle collides with the front non-living obstacle with small offset and the longitudinal beam of the vehicle is positioned in the small offset collision area, the vehicle-mounted controller 1 controls the vehicle steering system 4 to perform steering operation according to the adjusted driving path, for example, when the small offset coincidence degree exists between the left side of the vehicle and the right side of the front non-living obstacle, the vehicle driving path is adjusted to be a driving path turning to the left side, when the area of the front non-living obstacle is larger, the front collision area of the vehicle and the front non-living obstacle is increased, and when the area of the front non-living obstacle is smaller, such as a wire pole, the collision area of the vehicle can be converted to the middle position of the vehicle, so as to deviate from the longitudinal beam area of the vehicle, or for example, when the small offset coincidence degree exists between the right side of the vehicle and the left side of the front non-living obstacle, the vehicle is adjusted to be a driving path turning to the right side of the vehicle, the vehicle driving path is adjusted to be a driving path turning to the right side, the vehicle driving path is accordingly, the front non-living obstacle is pre-braked, the front non-living obstacle is controlled, and the front collision is prevented, and the front collision is prevented from being caused, and the front collision is prevented, and the front collision is controlled, the front safety of the vehicle is caused to the front safety system is caused.
When judging that the self-vehicle and the front inanimate object obstacle do not have small offset collision or the self-longitudinal beam is not positioned in the small offset collision area, the driving path of the vehicle is not changed, and only the emergency braking system 3 is controlled to brake and the safety belt pre-tightening system 5 is controlled to pre-warn the safety belt. The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (9)

1.一种车辆小偏置碰撞的保护方法，其特征在于，包括：1. A method for protecting a vehicle from a small offset collision, comprising: 在自车与同车道前方非生命体障碍物存在无法避免的碰撞风险时，判断自车左右侧是否存在安全行驶区域；When there is an unavoidable risk of collision between the vehicle and an inanimate obstacle ahead in the same lane, determine whether there is a safe driving area to the left or right of the vehicle; 若存在安全行驶区域，根据规划的换道路径判断自车在换道过程中是否存在与前方非生命体障碍物的小偏置碰撞风险，在不存在小偏置碰撞风险时，车辆根据规划的换道路径执行紧急转向；If a safe driving area exists, the vehicle determines whether there is a risk of a small offset collision with an inanimate obstacle ahead during the lane change based on the planned lane change path. If there is no risk of a small offset collision, the vehicle performs an emergency turn based on the planned lane change path. 若不存在安全行驶区域或者换道过程中存在小偏置碰撞风险时，判断原有行驶路径上自车与前方非生命体障碍物是否存在小偏置碰撞并且自车的纵梁是否位于碰撞区域内，若上述两个条件均为是，车辆根据调整后的行驶路径执行转向动作，用于增大自车碰撞面积或使自车碰撞区域远离车辆的纵梁，同时控制车辆进行紧急制动；若任一条件为否，继续原有行驶路径工作并控制车辆进行紧急制动。If there is no safe driving area or there is a risk of a small offset collision during the lane change process, determine whether there is a small offset collision between the vehicle and the inanimate obstacle ahead on the original driving path and whether the longitudinal beam of the vehicle is within the collision area. If both of the above conditions are true, the vehicle performs a steering action according to the adjusted driving path to increase the collision area of the vehicle or move the collision area away from the longitudinal beam of the vehicle, and at the same time controls the vehicle for emergency braking. If either condition is false, continue the original driving path and control the vehicle for emergency braking. 2.根据权利要求1所述的车辆小偏置碰撞的保护方法，其特征在于，判断自车与同车道前方非生命体障碍物存在无法避免的碰撞风险的操作包括：2. The method for protecting a vehicle from a small offset collision according to claim 1, wherein the operation of determining whether there is an unavoidable collision risk between the vehicle and a non-living obstacle ahead in the same lane comprises: 实时获取自车速度信息、自车与前方非生命体障碍物的相对距离信息和相对速度信息；Real-time acquisition of vehicle speed information, relative distance information and relative speed information between the vehicle and the inanimate obstacle ahead; 对获取的相对距离信息和相对速度信息进行计算，实时获得相对碰撞时间，在相对碰撞时间小于预设时间阈值时，判断为存在碰撞风险，之后根据自车速度信息获得安全刹车距离，在安全刹车距离大于实时获得的相对距离时，判断自车与同车道前方非生命体障碍物存在无法避免碰撞的风险。The relative distance information and relative speed information obtained are calculated to obtain the relative collision time in real time. When the relative collision time is less than the preset time threshold, it is judged that there is a collision risk. Then, the safe braking distance is obtained based on the vehicle's speed information. When the safe braking distance is greater than the relative distance obtained in real time, it is judged that there is a risk of unavoidable collision between the vehicle and the inanimate obstacle in front of it in the same lane. 3.根据权利要求1或2所述的车辆小偏置碰撞的保护方法，其特征在于，判断自车左右侧是否存在安全行驶区域的操作包括：3. The method for protecting a vehicle from a small offset collision according to claim 1 or 2, wherein the operation of determining whether there are safe driving areas on the left and right sides of the vehicle comprises: 检测自车左右侧是否存在车辆能行驶通过的车道，若存在车辆能行驶通过的车道，则实时将自车与相邻车道上行驶车辆的相对距离与安全换道距离阈值进行比较，在相对距离大于安全换道距离阈值时，判断自车左右侧存在安全行驶区域；Detect whether there are lanes on the left and right sides of the vehicle that can be driven through. If there are lanes that can be driven through, the relative distance between the vehicle and the vehicle in the adjacent lane is compared with the safe lane change distance threshold in real time. When the relative distance is greater than the safe lane change distance threshold, it is determined that there is a safe driving area on the left or right side of the vehicle; 若不存在车辆能行驶通过的车道或自车与相邻车道上行驶车辆的相对距离小于安全换道距离阈值，则判断自车左右侧均不存在安全行驶区域。If there is no lane through which the vehicle can pass or the relative distance between the vehicle and the vehicle in the adjacent lane is less than the safe lane change distance threshold, it is determined that there is no safe driving area on either side of the vehicle. 4.根据权利要求3所述的车辆小偏置碰撞的保护方法，其特征在于，判断自车左右侧是否存在安全行驶区域的操作还包括：4. The method for protecting a vehicle from a small offset collision according to claim 3, wherein the step of determining whether there are safe driving areas on the left and right sides of the vehicle further comprises: 在自车左右侧存在车辆能行驶通过的车道时，检测自车同车道后方车辆的转向灯是否打开；When there are lanes on the left and right sides of the vehicle that can be driven by other vehicles, detect whether the turn signal of the vehicle behind the vehicle in the same lane is turned on; 若打开的是左转向灯且只有自车相邻的左侧存在车辆能行驶通过的车道时，判断自车左右侧均不存在安全行驶区域；If the left turn signal is on and there is a lane only to the left of the vehicle where the vehicle can pass, it is determined that there is no safe driving area on either side of the vehicle. 若打开的是左转向灯且自车相邻的左侧和右侧均存在车辆能行驶通过的车道时，判断自车的右侧存在安全行驶区域；If the left turn signal is on and there are lanes on both the left and right sides of the vehicle where vehicles can pass, it is determined that there is a safe driving area on the right side of the vehicle; 若打开的是右转向灯且只有自车相邻的右侧存在车辆能行驶通过的车道时，判断自车左右侧均不存在安全行驶区域；If the right turn signal is on and there is a lane only to the right of the vehicle where vehicles can pass, it is determined that there is no safe driving area on either side of the vehicle. 若打开的是右转向灯且自车相邻的左侧和右侧均存在车辆能行驶通过的车道时，判断自车的左侧存在安全行驶区域；If the right turn signal is on and there are lanes on both the left and right sides of the vehicle where vehicles can pass, it is determined that there is a safe driving area on the left side of the vehicle; 若自车同车道后方车辆的转向灯未打开，判断自车左右侧存在安全行驶区域。If the turn signal of the vehicle behind your vehicle in the same lane is not on, it is determined that there are safe driving areas on the left and right sides of your vehicle. 5.根据权利要求1所述的车辆小偏置碰撞的保护方法，其特征在于，所述的换道路径根据转向角生成。5 . The vehicle small offset collision protection method according to claim 1 , wherein the lane change path is generated according to the steering angle. 6.根据权利要求5所述的车辆小偏置碰撞的保护方法，其特征在于，所述转向角根据自车实时速度和与前方非生命体障碍物之间的相对距离来确定。6 . The method for protecting a vehicle from a small offset collision according to claim 5 , wherein the steering angle is determined according to the real-time speed of the vehicle and the relative distance between the vehicle and a non-living obstacle in front. 7.根据权利要求6所述的车辆小偏置碰撞的保护方法，其特征在于，所述转向角为由自车实时速度和与前方非生命体障碍物之间的相对距离作为输入参数，通过查询预设的转向角规划表获得。7. The method for protecting a vehicle from a small offset collision according to claim 6, wherein the steering angle is obtained by querying a preset steering angle planning table using the vehicle's real-time speed and the relative distance to a forward inanimate obstacle as input parameters. 8.根据权利要求1或2所述的车辆小偏置碰撞的保护方法，其特征在于，在判断自车与同车道前方非生命体障碍物存在碰撞风险时，车辆安全带执行预紧动作。8. The method for protecting a vehicle from a small offset collision according to claim 1 or 2, characterized in that when it is determined that there is a risk of collision between the vehicle and an inanimate obstacle ahead in the same lane, the vehicle seat belt is pre-tightened. 9.一种车辆小偏置碰撞的保护系统，所述系统包括车载控制器(1)以及与所述车载控制器(1)连接的紧急制动系统(3)、车辆转向系统(4)和用于对自车与自车360度范围内的非生命体障碍物的相对距离和相对速度以及可行驶区域进行检测的车载传感设备(2)，其特征在于，所述车载控制器(1)包括：9. A vehicle small offset collision protection system, comprising an onboard controller (1), an emergency braking system (3) connected to the onboard controller (1), a vehicle steering system (4), and an onboard sensor device (2) for detecting the relative distance and relative speed between the vehicle and non-living obstacles within a 360-degree range of the vehicle and a drivable area, wherein the onboard controller (1) comprises: 碰撞风险判断模块(11)，用于根据自车与前方非生命体障碍物的相对距离和相对速度来判断自车与同车道前方非生命体障碍物是否存在无法避免的碰撞风险；A collision risk judgment module (11) is used to judge whether there is an unavoidable collision risk between the vehicle and the non-living obstacle in front of the vehicle in the same lane based on the relative distance and relative speed between the vehicle and the non-living obstacle in front; 安全区域分析模块(12)，用于根据检测的可行驶区域并结合自车与相邻车道行驶车辆的相对距离和相对速度来判断自车左右侧是否存在安全行驶区域；A safety zone analysis module (12) is used to determine whether there is a safe driving zone on the left or right side of the vehicle based on the detected drivable zone and the relative distance and relative speed between the vehicle and the vehicles in the adjacent lanes; 小偏置碰撞判断模块(13)，用于判断自车与前方非生命体障碍物是否存在小偏置重合度以及根据规划的换道路径判断自车在换道过程中是否存在与前方非生命体障碍物的小偏置碰撞风险；A small offset collision judgment module (13) is used to judge whether there is a small offset overlap between the vehicle and the inanimate obstacle ahead and to judge whether there is a small offset collision risk between the vehicle and the inanimate obstacle ahead during the lane change process based on the planned lane change path; 第一控制模块(14)，用于在存在无法避免的碰撞风险且自车左右侧存在安全行驶区域时，输出控制车辆根据规划的换道路径进行紧急转向的控制指令；A first control module (14) is configured to output a control instruction for controlling the vehicle to perform an emergency turn according to a planned lane change path when there is an unavoidable collision risk and there are safe driving areas on the left and right sides of the vehicle; 第二控制模块(15)，用于在存在无法避免的碰撞风险、自车左右侧不存在安全行驶区域、自车与前方非生命体障碍物存在小偏置碰撞并且自身的纵梁位于碰撞区域内时，输出用于增大自车碰撞面积或使自车碰撞区域远离车辆纵梁的路径调节控制指令以及输出紧急制动的控制指令；A second control module (15) is configured to output a path adjustment control instruction for increasing the collision area of the vehicle or moving the collision area of the vehicle away from the longitudinal beam of the vehicle, and output an emergency braking control instruction when there is an unavoidable collision risk, there is no safe driving area on the left or right side of the vehicle, there is a small offset collision between the vehicle and a non-living obstacle in front, and the longitudinal beam of the vehicle is located in the collision area; 所述的车辆转向系统(4)用于根据第一控制模块(14)或第二控制模块(15)输出的控制指令进行转向动作；The vehicle steering system (4) is used to perform steering actions according to control instructions output by the first control module (14) or the second control module (15); 所述的紧急制动系统(3)用于根据第二控制模块(15)输出的控制指令进行紧急制动。The emergency braking system (3) is used for performing emergency braking according to the control instruction output by the second control module (15).
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