CN-121973775-A - Multi-target fusion type reverse anti-false touch control method and system for commercial vehicle

CN121973775ACN 121973775 ACN121973775 ACN 121973775ACN-121973775-A

Abstract

The invention provides a multi-target fusion type reverse anti-false control method and system for a commercial vehicle, which are characterized in that when a whole vehicle power supply is in an ON gear and a vehicle gear is in a non-reverse gear, an auxiliary driving controller is in a standby state, when the vehicle gear is in a reverse gear, the auxiliary driving controller fuses millimeter wave angle radar and rearview camera signals, dynamically adjusts true weights of the rearview camera and the millimeter wave angle radar according to a real-time distance, predicts a reverse track according to a vehicle speed and a steering wheel angle, and correspondingly controls the whole vehicle based ON different control areas.

Inventors

XUE BOWEN
ZHAO JUN
FU WEILONG
WANG JING
LEI ZHENGCHAO
LEI ZHANGPENG

Assignees

陕汽集团商用车有限公司
陕西汽车集团股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260122

Claims (10)

1. A multi-target fusion method for controlling reverse anti-false touch of a commercial vehicle is characterized by comprising the following steps of When the whole vehicle power supply is in an ON gear and the vehicle gear is in a non-reverse gear, the auxiliary driving controller is in a standby state, and the auxiliary driving controller does not process millimeter wave angle radar and rearview camera signals at the moment; the signal of the solar and rainfall sensor continuously transmits weather and environment information to the auxiliary driving controller, but the weather and environment information adaptation logic is triggered only when the vehicle gear is in reverse gear; When the gear of the vehicle is in the reverse gear, the auxiliary driving controller carries out fusion processing on the millimeter wave angle radar and the rearview camera signals, wherein the rearview camera image signals identify the outline and the type of the obstacle through an edge detection Canny algorithm; the millimeter wave angle radar signal eliminates noise interference through a Kalman filtering algorithm, an obstacle distance-azimuth matrix is generated, then the real-time distance between an obstacle and a vehicle is extracted based on the obstacle distance-azimuth matrix, and the true weights of a rearview camera and the millimeter wave angle radar are dynamically adjusted according to the real-time distance; After the millimeter wave angle radar and the rearview camera are fused, the auxiliary driving controller predicts a reversing track according to the vehicle speed and the steering wheel angle, calculates the relative distance between the tail of the current vehicle and the obstacle, receives the shaft speed provided by the electronic braking system, calculates the collision time TTC according to the relative distance and the shaft speed of the obstacle, sets a control area according to the collision time TTC, and correspondingly controls the whole vehicle when the vehicle is in different control areas; Wherein the control region includes a risk potential control region and an absolute control region.
2. The multi-target fusion commercial vehicle reversing anti-false touch control method according to claim 1, wherein the dynamically adjusting the truth weights of the rearview camera and the millimeter wave angle radar according to the real-time distance comprises: If the relative distance between the obstacle and the vehicle is greater than 5 meters, the identification result of the rearview camera is taken as a true value, millimeter wave angle radar data assist ranging is used for generating a reversing safety area based on vehicle parameters, the reversing safety area is a transverse area which extends to the left and right of the central axis of the reversing advancing direction of the vehicle and is formed by adding 0.2 meter to the vehicle width and a longitudinal area which extends to the distance between the rearview camera and the rear overhang of the vehicle and is 0.2 meter, if the relative distance between the obstacle and the vehicle is less than 1 meter, the millimeter wave angle radar tracking result is taken as a main part, the type of the obstacle identified by the rearview camera is fused, and the fused position, distance and type labels of the obstacle are output.
3. The multi-target fusion commercial vehicle reversing anti-false touch control method according to claim 1, wherein if the vehicle is in a potential risk control area, the auxiliary driving controller sends a torque limiting instruction to the whole vehicle power control system to restrict the reversing speed within a preset anti-collision safe speed range; if the vehicle is in the absolute control area, the auxiliary driving controller sends a torque limiting instruction with higher priority than an accelerator pedal instruction to the whole vehicle power control system, and simultaneously sends a braking request instruction to the electronic braking system to control the vehicle to finish stopping within a safe distance from an obstacle.
4. The multi-target fusion commercial vehicle reversing anti-false touch control method according to claim 3, wherein the potential risk control area is divided into an accelerator pedal anti-false touch stage and an early warning stage; the false touch prevention stage of the accelerator pedal is as follows: When the relative distance between the vehicle and the obstacle is smaller than a first preset distance threshold value, and the collision time TTC is smaller than or equal to the first preset TTC threshold value, entering an accelerator pedal anti-false touch stage, taking the vehicle axle speed and the relative distance between the vehicle and the obstacle as a torque limiting judgment condition, and when the axle speed exceeds a preset axle speed threshold value or the relative distance between the vehicle and the obstacle is smaller than the first preset distance threshold value, sending a torque limiting instruction to a whole vehicle power control system by an auxiliary driving controller, limiting the output torque of an engine/motor, and enabling the vehicle and the obstacle to maintain a dynamic safety distance; the early warning stage is as follows: when the relative distance between the vehicle and the obstacle is smaller than a second preset distance threshold value, and the collision time TTC is smaller than or equal to the second preset TTC threshold value, entering an early warning stage, taking the vehicle axle speed and the relative distance between the vehicle and the obstacle as torque limiting judgment conditions, and when the axle speed exceeds a preset axle speed threshold value or the relative distance between the vehicle and the obstacle is smaller than the second preset distance threshold value, sending a torque limiting instruction to a whole vehicle power control system by an auxiliary driving controller, limiting the output torque of an engine/motor, superposing an acousto-optic early warning strategy, prompting a driver that the vehicle is approaching the obstacle at the moment, and improving the operation attention; Wherein the second preset distance threshold < the first preset distance threshold, the second preset TTC threshold < the first preset TTC threshold; the preset axle speed threshold value is the upper limit of the reversing safety speed of the commercial vehicle.
5. The multi-target fusion commercial vehicle reversing anti-false touch control method according to claim 4, wherein the acousto-optic early warning strategy is that a vehicle-mounted central control display screen performs yellow rendering visual display on a vehicle tail area, and visually presents the relative distance position of a vehicle and an obstacle; the vehicle-mounted buzzer continuously gives out sound prompts at a fixed frequency of 1Hz to form perceivable hearing early warning.
6. The multi-target fusion commercial vehicle reversing anti-false touch control method according to claim 4, wherein when the relative distance between a vehicle and an obstacle is smaller than a third preset distance threshold value and the collision time TTC is smaller than or equal to the third preset TTC threshold value, an absolute control area is entered, a vehicle-mounted buzzer continuously sends out a high-frequency sound prompt, meanwhile, an auxiliary driving controller judges whether the vehicle stops when the relative distance between the vehicle and the obstacle is greater than a safety threshold value according to the current deceleration of the vehicle; The third preset distance threshold value is smaller than the second preset distance threshold value, the third preset TTC threshold value is smaller than the second preset TTC threshold value, the safety threshold value is the minimum safety distance set based on the fact that the whole commercial vehicle is in different states, the minimum safety distance is 15 cm-30 cm, and different states of the whole commercial vehicle comprise no-load and full-load states.
7. The multi-target fusion commercial vehicle reversing anti-false touch control method according to claim 6, wherein when the vehicle is stopped within a safe distance from an obstacle, the auxiliary driving controller continuously sends a braking pressure maintaining instruction to the electronic braking system for 2 seconds after the vehicle speed is zero, so that the vehicle is prevented from sliding due to the attenuation of braking pressure, and the stable posture after braking is ensured; When the accelerator pedal opening is 0% or the vehicle gear is not reverse gear, the auxiliary driving controller switches to the standby state.
8. The multi-target fusion commercial vehicle reverse anti-false touch control method according to claim 1, wherein when the auxiliary driving controller monitors that the vehicle is in a rainy environment through a sunlight and rainfall sensor, the collision time TTC is adjusted to be 1.5 times of the non-rainy environment, and the braking capability of the vehicle caused by rainy days is reduced.
9. A multi-target fusion reverse anti-false system for a commercial vehicle for implementing the method of any one of claims 1-8, comprising: The two millimeter wave angle radars are respectively arranged at two sides of the tail of the vehicle; The rear-view camera is arranged at the center of the tail of the vehicle and used for outputting a target visual image and detecting the distance; the sunlight and rainfall sensor is used for collecting weather and environment information and transmitting the weather and environment information to the auxiliary driving controller; The auxiliary driving controller is used for receiving data signals transmitted by the millimeter wave angle radar, the rearview camera and the sunlight and rainfall sensor, predicting a reversing track according to the vehicle speed and the steering wheel angle, calculating the relative distance between the tail of the current vehicle and an obstacle, simultaneously receiving the shaft speed provided by the electronic braking system, calculating the collision time TTC according to the relative distance and the shaft speed of the obstacle, setting a control area according to the collision time TTC, and correspondingly controlling the whole vehicle when the vehicle is in different control areas; The gearbox controller is used for outputting a vehicle gear signal, and when the vehicle is in a reverse gear, the vehicle gear state is sent to the auxiliary driving controller through the CAN message; the engine controller is used for responding to the torque limiting instruction request of the auxiliary driving controller, and when the auxiliary driving controller sends the torque limiting instruction request, the engine controller limits the engine torque output; the electronic brake system is used for responding to the brake instruction request of the auxiliary driving controller, and executing the corresponding brake request when the auxiliary driving controller sends the brake instruction request; the central control display is used for displaying reversing images, reversing paths and alarming prompts.
10. The multi-target fusion commercial vehicle reversing anti-false touch system according to claim 9, wherein the millimeter wave angle radar detection angle is 180 degrees, the edge sensing areas of the two millimeter wave angle radars form an included angle intersection point on the vehicle central axis, and the distance between the intersection point and the tail of the vehicle is 0.3m; the rearview camera is a digital camera.

Description

Multi-target fusion type reverse anti-false touch control method and system for commercial vehicle Technical Field The invention discloses a multi-target fusion reversing anti-false touch control method and system for a commercial vehicle, and relates to the technical field of vehicle control. Background With the rapid development of economy, commercial vehicles have become an indispensable vehicle in modern society. It improves the efficiency of cargo transportation obviously, playing an important role in the economic activity of modern society. However, the increasing number of vehicles also presents challenges, with vehicle safety issues being particularly acute. Among many driving scenarios, reversing operation is a scenario frequently encountered by each driver, and safety is a focus of attention of many automobile manufacturers and users. According to statistics, the proportion of the reversing accidents in all traffic accidents reaches 23.15%, the vehicle damage, personnel injury and even more serious consequences are often caused, and the reversing accidents mainly are caused by inaccurate environment perception and inaccurate distance judgment and throttle control errors in the reversing process. Disclosure of Invention In order to solve the problems actually generated by the generation, the invention provides a multi-target fusion reversing anti-false control method and system for a commercial vehicle. The specific technical scheme is as follows: A multi-target fusion method for controlling reverse anti-false touch of commercial vehicle comprises the following steps When the whole vehicle power supply is in an ON gear and the vehicle gear is in a non-reverse gear, the auxiliary driving controller is in a standby state, and the auxiliary driving controller does not process millimeter wave angle radar and rearview camera signals at the moment; the signal of the solar and rainfall sensor continuously transmits weather and environment information to the auxiliary driving controller, but the weather and environment information adaptation logic is triggered only when the vehicle gear is in reverse gear; When the gear of the vehicle is in the reverse gear, the auxiliary driving controller carries out fusion processing on the millimeter wave angle radar and the rearview camera signals, wherein the rearview camera image signals identify the outline and the type of the obstacle through an edge detection Canny algorithm; the millimeter wave angle radar signal eliminates noise interference through a Kalman filtering algorithm, an obstacle distance-azimuth matrix is generated, then the real-time distance between an obstacle and a vehicle is extracted based on the obstacle distance-azimuth matrix, and the true weights of a rearview camera and the millimeter wave angle radar are dynamically adjusted according to the real-time distance; After the millimeter wave angle radar and the rearview camera are fused, the auxiliary driving controller predicts a reversing track according to the vehicle speed and the steering wheel angle, calculates the relative distance between the tail of the current vehicle and the obstacle, receives the shaft speed provided by the electronic braking system, calculates the collision time TTC according to the relative distance and the shaft speed of the obstacle, sets a control area according to the collision time TTC, and correspondingly controls the whole vehicle when the vehicle is in different control areas; Wherein the control region includes a risk potential control region and an absolute control region. Preferably, the dynamically adjusting the truth weights of the rearview camera and the millimeter wave angle radar according to the real-time distance includes: If the relative distance between the obstacle and the vehicle is greater than 5 meters, the identification result of the rearview camera is taken as a true value, millimeter wave angle radar data assist ranging is used for generating a reversing safety area based on vehicle parameters, the reversing safety area is a transverse area which extends to the left and right of the central axis of the reversing advancing direction of the vehicle and is formed by adding 0.2 meter to the vehicle width and a longitudinal area which extends to the distance between the rearview camera and the rear overhang of the vehicle and is 0.2 meter, if the relative distance between the obstacle and the vehicle is less than 1 meter, the millimeter wave angle radar tracking result is taken as a main part, the type of the obstacle identified by the rearview camera is fused, and the fused position, distance and type labels of the obstacle are output. Preferably, if the vehicle is in a potential risk control area, the auxiliary driving controller sends a torque limiting instruction to the whole vehicle power control system to restrict the reversing speed within a preset anti-collision safe speed range; if the vehicle is in the absolute control area, the