CN107399290A - Safe driving assistant system and its control method - Google Patents

Abstract

The invention provides a safety driving assistance system and a control method thereof. The safe driving assistance system includes: a moving object detection unit configured to detect a moving object within a predetermined range around the host vehicle and store a state parameter corresponding to the moving object in a storage unit of the safe driving assistance system, and It is also configured to define a moving target that cannot be detected again and/or cannot be directly detected as a disappearing target; the moving trajectory prediction unit is configured to search the storage unit for a state parameter corresponding to the disappearing target, And based on the state parameters of the disappearing object, the trajectory of the disappearing object is predicted; the risk determination unit is configured to determine the relationship between the host vehicle and the disappearing object by comparing the predicted trajectory of the disappearing object with the expected driving trajectory of the host vehicle. whether there is danger therebetween; and a danger early warning section configured to execute danger early warning control based on a determination result of the danger determination section.

Description

Safety driving assistance system and control method thereof

technical field

The present invention generally relates to the field of vehicle safety control, in particular to a safety driving assistance system and a control method for the safety driving assistance system.

Background technique

At present, road traffic accidents have become an increasingly serious public safety problem worldwide. Moreover, the driver's human factors that lead to these road traffic accidents mainly include human factors (driver fatigue driving, inattention, and various traffic behaviors of pedestrians), environmental factors (road conditions, traffic signs and lighting equipment, etc.) safety settings) and vehicle factors (active and passive safety, etc.).

Therefore, in order to reduce more traffic accidents, safety driving assistance systems, such as collision warning systems, are usually installed on vehicles, which can detect the road environment through sensor technologies such as radar, laser, ultrasonic, infrared, and machine vision. And then judge the possibility of collision according to the detected information, so as to give the driver and pedestrians a timely alarm when danger may occur.

However, when detecting the road environment, since some moving objects (such as pedestrians, bicycles, and even vehicles) may be blocked or hidden by other objects, the vehicle's safety driving assistance system may not be able to obtain the real information of these moving objects or may not be able to obtain the real information of these moving objects. Without obtaining any information of these moving targets, it is impossible to make a correct risk judgment, resulting in the occurrence of traffic accidents.

Contents of the invention

In order to solve the above technical problems, the present invention proposes a safety driving assistance system capable of judging whether danger may occur between the host vehicle and the disappearing object by predicting the moving track of the covered moving object (hereinafter referred to as the disappearing object), And a control method for the safety driving assistance system is also proposed.

According to an embodiment of the present invention, a safety driving assistance system is proposed, including a moving object detection unit configured to detect a moving object within a predetermined range around the host vehicle and store a state parameter corresponding to the moving object in the In the storage unit of the safe driving assistance system, it is also configured to define a moving target that cannot be detected again and/or cannot be directly detected as a disappearing target; the moving trajectory prediction unit is configured to be in the storage unit Search for state parameters corresponding to the disappearing object, and predict the trajectory of the disappearing object based on the state parameters of the disappearing object; the risk determination unit is configured to compare the predicted trajectory of the disappearing object with the host vehicle an expected travel trajectory to determine whether there is a danger between the host vehicle and the disappearing object; and a danger warning section configured to execute danger warning control based on a determination result of the danger judging section. Therefore, according to the safety driving assistance system of the present invention, even if a disappearing target appears when the vehicle is moving forward or backing up, it can be determined whether there is danger between the disappearing target and the host vehicle by predicting the trajectory of the disappearing target ( Such as friction or collision, etc.), and then execute risk warning control according to the judgment result, thereby reducing the probability of traffic accidents.

According to a preferred embodiment of the present invention, the risk determination unit is further configured to calculate the collision time between the disappearing object and the host vehicle when the predicted moving trajectory of the disappearing object and the expected driving trajectory of the host vehicle intersect, And the hazard warning section is also configured to perform different hazard warning controls by comparing the collision time with a plurality of preset thresholds. Therefore, if the predicted moving trajectory of the disappearing object intersects with the expected driving trajectory of the host vehicle, it means that danger, such as collision or friction, may occur between the host vehicle and the disappearing object. In this case, the safety driving assistance system according to the present invention can calculate the collision time between the disappearing target and the host vehicle, and perform different risk pre-warning controls based on the collision time. For example, when the time to collision is less than a first threshold, an early warning signal is issued; when the time to collision is less than or equal to a second threshold, the host vehicle is controlled to implement automatic braking and/or automatic steering, and the second threshold is less than the first threshold. Threshold; when the collision time is less than or equal to a third threshold, the passive safety system of the host vehicle is triggered, and the third threshold is smaller than the second threshold.

According to a preferred embodiment of the present invention, the moving trajectory prediction unit is configured such that when the host vehicle travels a predetermined distance, the moving object detection unit detects the disappearing object again, and the time from the first detection of the disappearing object is longer than the first time. When a predetermined time length or the time from the disappearance of the disappearing object is greater than a second predetermined time length, stop predicting the trajectory of the disappearing object. Therefore, according to the safety driving assistance system of the present invention, only the moving trajectory of the disappearing target is predicted, and the prediction will be stopped in the above situation, so false warnings can be reduced and calculation costs can be reduced, thereby improving the responsiveness of vehicle control.

According to a preferred embodiment of the present invention, the early warning signal includes a visual early warning signal, an audible early warning signal, a tactile early warning signal and a communication signal sent via vehicle-to-vehicle communication.

According to a preferred embodiment of the present invention, the visual early warning signal includes an image of the disappearing object captured before the disappearing object is displayed on a display screen of the host vehicle.

According to another embodiment of the present invention, a control method for safe driving assistance is proposed, the control method includes the following steps: detecting a moving target within a predetermined range around the host vehicle and storing the state corresponding to the moving target parameter, and define a moving target that cannot be detected again and/or cannot be detected directly as a disappearing target; search for the state parameters corresponding to the disappearing target, and predict the movement of the disappearing target based on the state parameters of the disappearing target trajectory; by comparing the predicted moving trajectory of the disappearing object with the expected driving trajectory of the host vehicle, to determine whether there is danger between the host vehicle and the disappearing object; and to execute hazard pre-warning control based on the determination result of the danger judging unit. Therefore, according to the control method of the present invention, even if a disappearing target appears when the vehicle moves forward or reverses, it can be determined whether there is danger (such as friction) between the disappearing target and the host vehicle by predicting the trajectory of the disappearing target. or collision, etc.), and then execute hazard pre-warning control based on the judgment result, thereby reducing the probability of traffic accidents.

According to a preferred embodiment of the present invention, the control method further includes the following steps: calculating the collision time between the disappearing object and the host vehicle when the predicted moving trajectory of the disappearing object and the expected driving trajectory of the host vehicle intersect, And different risk pre-warning controls are executed by comparing the collision time with a plurality of preset thresholds. In this case, the control method according to the present invention can calculate the collision time between the disappearing object and the host vehicle, and perform different risk pre-warning controls based on the collision time. For example, when the time to collision is less than a first threshold, an early warning signal is issued; when the time to collision is less than or equal to a second threshold, the host vehicle is controlled to implement automatic braking and/or automatic steering, and the second threshold is less than the first threshold. Threshold; when the collision time is less than or equal to a third threshold, the passive safety system of the host vehicle is triggered, and the third threshold is smaller than the second threshold. Therefore, if the predicted moving trajectory of the disappearing object intersects with the expected driving trajectory of the host vehicle, it means that danger, such as collision or friction, may occur between the host vehicle and the disappearing object.

According to a preferred embodiment of the present invention, the control method further includes the following steps: when the host vehicle travels a predetermined distance, the disappearing target is detected again, and the time from the first detection of the disappearing target is greater than a first predetermined time length Or when the time until the disappearing object disappears is greater than the second predetermined time length, stop predicting the movement track of the disappearing object. Therefore, according to the control method of the present invention, only the moving trajectory of the disappearing target is predicted, and the prediction will be stopped in the above situation, so false warnings can be reduced and calculation costs can be reduced, thereby improving the responsiveness of vehicle control.

It can be seen that the safety driving assistance system according to the present invention can determine whether there is a danger between the disappearing object and the host vehicle by predicting the trajectory of the disappearing object, and can perform risk warning control based on the judgment result, thereby reducing the risk of traffic accidents. probability of occurrence.

Description of drawings

Fig. 1 shows the situation that may occur when a vehicle that is not equipped with the safety driving assistance system according to the present invention encounters a moving target that is crossing the road ahead;

Fig. 2 shows a schematic block diagram of a safe driving assistance system according to an embodiment of the present invention;

Fig. 3 shows a flowchart of a control method for the safety driving assistance system according to another embodiment of the present invention.

detailed description

Hereinafter, embodiments of the present invention are described with reference to the drawings. The following detailed description and accompanying drawings serve to illustrate the principles of the present invention. The present invention is not limited to the described preferred embodiments, but the scope of the present invention is defined by the claims.

Since some moving targets may be blocked or hidden by other obstacles (such as green belts, pedestrians and other vehicles, etc.) Difficulty recalling the movement of these occluded or hidden moving objects. In this case, it is very likely to cause traffic accidents. Figures 1A-1C show what may happen when a vehicle that is not equipped with the safety driving assistance system according to the present invention encounters a moving object crossing the road ahead while driving. For example, as shown in FIG. 1A, the vehicle 1 that is not installed with the safety driving assistance system according to the present invention is moving forward, and the moving object 2 is moving in a direction perpendicular to the driving direction of the vehicle 1. At this time, the moving object 2 Within the driver's line of sight or within the detection range of the vehicle's sensors, i.e. not yet obscured or hidden. After a period of time, that is, when the vehicle 1 and the moving object 2 have moved a certain distance respectively, the moving object 2 may be blocked, as shown in Figure 1B, at this time, the driver cannot see the blocked moving object or Vehicle sensors also cannot detect the occluded moving object. Then, when the host vehicle continues to drive forward for a certain distance, the driver may see the moving target again or the vehicle sensor may detect the moving target again, as shown in Figure 1C, but at this time, the driver has no time to react, and at this time Highly likely to be dangerous.

However, if the vehicle is equipped with the safety driving assistance system according to the embodiment of the invention, it will perform danger warning control for the hidden or blocked moving target (hereinafter referred to as the disappearing target) during the forward or backward driving of the vehicle, Thus avoiding accidents. Herein, the safety driving assistance system installed with the embodiment of the present invention is referred to as a host vehicle or a target vehicle.

Fig. 2 shows a schematic block diagram of a safety driving assistance system 100 according to an embodiment of the present invention. As shown in FIG. 2 , the safe driving assistance system 100 includes a moving object detection unit 10 configured to detect moving objects within a predetermined range around the host vehicle and store state parameters corresponding to the moving objects in the storage unit 20 , And it is configured to define and identify a target that cannot be detected again and/or a target that cannot be directly detected as a disappearing target; the movement trajectory prediction unit 30 is configured to search for a target corresponding to the disappearing target in the storage unit 20 , and predict the trajectory of the disappearing object based on the state parameters of the disappearing object; the risk determination unit 40 is configured to determine by comparing the predicted trajectory of the disappearing object with the expected trajectory of the host vehicle whether there is danger between the host vehicle and the vanishing target; and the danger early warning section 50 configured to execute danger early warning control based on the judgment result of the danger judging section. Therefore, even if a disappearing target appears when the vehicle is moving forward or backward, the safety driving assistance system 100 according to the embodiment of the present invention can also determine whether there is a gap between the disappearing target and the host vehicle by predicting the trajectory of the disappearing target. Danger (such as friction or collision, etc.), and then execute risk pre-warning control according to the judgment result, thereby reducing the probability of traffic accidents.

First, the moving object detection unit 10 determines whether there is a moving object within a predetermined range around the host vehicle. For example, the moving object detection unit 10 acquires environmental information within a predetermined range around the host vehicle through various sensors (not shown) installed on the host vehicle, and analyzes whether there is movement within the predetermined range based on the environmental information. Target. These sensors can be either radar, laser or a combination. These sensors can be arranged at positions such as the front and rear bumpers of the host vehicle, and can also be installed at any suitable position of the host vehicle. These sensors confirm whether there is a moving target within a predetermined range around the host vehicle and measure the State data of moving objects, including position data and motion dynamics data.

For example, a laser sensor will be described as an example. Referring to FIGS. 1A-1C and FIG. 2 , when the host vehicle travels to the position shown in FIG. 1A , the moving object detection unit 10 causes the laser sensor to transmit laser waves and the like from the host vehicle at a predetermined sampling period and receive echoes of the laser waves. , so as to determine whether there is a moving target around the host vehicle. If it is determined that there is a moving object around the host vehicle, the moving object detection unit 10 further enables the laser sensor to acquire the state parameters of the moving object, such as its position, moving speed, moving acceleration, and moving direction, and converts these state parameters stored in the storage unit 20 . The driving safety assistance system 100 can also obtain dynamic parameters of the host vehicle by using any other suitable sensors installed on the host vehicle.

When the moving object detection unit 10 detects that there is a moving object within a predetermined range around the host vehicle, it will continue to detect the moving object. After a period of time, if the moving object detection section 10 cannot detect the moving object again, but suddenly detects that an obstacle appears between the moving object and the host vehicle, the moving object detection section 10 defines the moving object as disappearing. Target.

Specifically, as described above, the moving object detection unit 10 detects a moving object by causing the laser sensor to transmit laser waves at a predetermined sampling period and receiving echoes of the laser waves. When the laser sensor detects a moving target in a certain sampling period (for example, a moving target is detected at the position shown in Figure 1A), but fails to detect it in one or several sampling periods after the sampling period When the moving object is detected and an obstacle is suddenly detected between the moving object and the host vehicle (for example, when the host vehicle is in the position shown in FIG. 1B ), the moving object detection unit 10 defines the moving object as a disappearing object. . In addition, when the results show that at least a part or all of a moving object is blocked by other objects (for example, signs, green belts or other host vehicles), that is, when the moving object detection unit 10 cannot fully detect the moving object When it is a target, the moving target detection unit 10 also defines it as a disappearing target.

In the present embodiment, the storage unit 20 is provided in the driving safety assisting system 100 . However, the safe driving assistance system 100 can also use any other storage unit in the host vehicle to store the state parameters of the moving object.

After the moving object detection part 10 has defined the disappearing object, the moving trajectory prediction part 30 searches the state parameters corresponding to the disappearing object in the storage part 20, such as position data and dynamic data (moving speed, moving acceleration, moving direction), etc., and predict the trajectory of the disappearing target based on the state parameters of the disappearing target.

The danger determination unit 40 compares the predicted moving trajectory of the disappearing object with the expected traveling trajectory of the host vehicle to determine whether there is danger between the host vehicle and the disappearing object. Specifically, the risk determination unit 40 determines whether the predicted trajectory of the disappearing target is output by the trajectory prediction unit 30 and the expected trajectory of the host vehicle is converged or overlapped with the expected trajectory of the host vehicle. is calculated in advance by the risk judging unit 40 based on information about the host vehicle output from various sensors. If the determination result shows that the predicted moving trajectory of the disappearing object does not intersect with the expected driving trajectory of the host vehicle, the danger determination unit 40 determines that there is no danger between the disappearing object and the host vehicle. On the contrary, if the determination result shows that the predicted moving trajectory of the disappearing object will intersect with the expected driving trajectory of the host vehicle, the risk determination unit 40 determines that there is danger between the disappearing object and the host vehicle, that is, friction or collision may occur.

If the danger determination unit 40 determines that there is a danger between the disappearing object and the host vehicle, it will then estimate the collision between the host vehicle and the disappearing object based on the expected travel trajectory of the host vehicle and the predicted moving trajectory of the disappearing object. Time TTC. Specifically, the risk determination unit 40 uses the initial time when the expected traveling trajectory of the host vehicle and the predicted moving trajectory of the disappearing object converge as the collision time TTC between the host vehicle and the disappearing object, and outputs the collision time TTC to Department of Hazard Warning 50.

The danger warning section 50 controls whether the host vehicle issues a danger warning based on the judgment result output from the danger judging section 40 and the collision time. Specifically, when the danger determination unit 40 determines that there is no danger between the disappearing target and the host vehicle, the danger warning unit 50 does not need to execute the danger warning control. In addition, when the risk judging unit 40 determines that there is a danger between the disappearing target and the host vehicle, the danger early warning unit 50 further compares the collision time TTC calculated by the danger judging unit 40 with a plurality of preset thresholds TTC _THs , And based on the comparison result, different danger warnings are made, for example, a danger warning signal is sent or a danger warning action is executed.

For example, if the time to collision TTC is less than the first threshold TTC _TH1 (for example, 2s), the danger warning unit 50 sends a warning signal to the driver and the disappearing target to prompt them to pay attention to the potential danger. Wherein, the early warning signal includes a visual early warning signal, an auditory early warning signal or a tactile early warning signal. In addition, the early warning signal may also include a communication signal sent to other traffic participants around the host vehicle (for example, a moving object crossing the road or other vehicles driving in the side lane, etc.) via vehicle-to-vehicle communication. A communication signal sent by the server to surrounding vehicles.

For example, the danger warning unit 50 can send a visual warning signal to the driver by using the image information displayed on the vehicle display, the text information and the combination of the two, and the lighting or flashing of light-emitting elements such as LEDs installed on the vehicle dashboard. In-vehicle displays include the head-up display, the display of the vehicle's navigation system, or any other display mounted or connected to the host vehicle. Preferably, the visual warning signal displayed on the on-board display includes an image of the vanishing object captured prior to the disappearance of the disappearing object, highlighted. The image may be included in a video of the external environment acquired in real time, wherein the position of the disappearing target in the video is consistent with the actual position of the disappearing target predicted by the movement trajectory prediction unit 30 . In this way, the driver can see the disappearing object in a similar way as through a "transparent barrier". In addition, the danger warning unit 50 can send a visual warning signal to a disappearing target (eg, a pedestrian, a bicycle, or other vehicles with an intention to turn) through the host vehicle's headlights, signal lights, warning lights, etc.

The danger warning unit 50 can also use a loudspeaker system such as a speaker, a buzzer, and a horn to send out an auditory warning signal. In addition, the danger warning unit 50 can also send a tactile warning signal to the driver through the vibration of the driver's seat and the steering wheel.

If the time to collision TTC is less than or equal to the second threshold TTC _TH2 (for example, 1s), the danger warning unit 50 controls the host vehicle to enable the host vehicle to realize automatic steering or automatic braking. Wherein, the second threshold TTC _TH2 is smaller than the first threshold TTC _TH1 .

If the collision time TTC is less than or equal to the third threshold TTC _TH3 (for example, 0.5s), the danger warning part 50 triggers the passive safety system of the host vehicle, such as internal/external airbags, driver's head and neck protection system, etc., to reduce the collision process Losses to pilots and disappearing targets are minimized. Wherein, the third threshold TTC _TH3 is smaller than the second threshold TTC _TH2 .

Therefore, even if a disappearing target appears when the host vehicle moves forward or reverses, the safety driving assistance system according to the present invention can also determine whether there is danger between the disappearing target and the host vehicle by predicting the trajectory of the disappearing target ( Such as friction or collision, etc.), and then execute risk warning control according to the judgment result, thereby reducing the probability of traffic accidents. Therefore, the host vehicle installed with the safety driving assistance system according to the present invention can avoid the situation shown in FIG. 1C.

Preferably, after the host vehicle travels for a period of time, the storage unit 20 will automatically eliminate the state parameters corresponding to the moving objects within the predetermined range, thereby reducing the data storage of the safe driving assistance system 100, and further speeding up data processing efficiency and processing precision. Preferably, when the moving object detection unit 10 detects the disappearing object again, the storage unit 20 automatically clears the state parameters corresponding to the disappearing object, and the moving track predicting unit 30 will also stop predicting the moving track of the disappearing object. . In addition, when the time from the first detection of the disappearing object is longer than the first predetermined time length or the time from the disappearance of the disappearing object is longer than the second predetermined time length, the movement trajectory predictor 30 will also stop predicting the movement trajectory of the disappearing object.

Therefore, the safe driving assistance system according to the embodiment of the present invention only predicts the moving trajectory of the disappearing target, and will stop the prediction in the above situation, so that false warnings can be reduced and calculation costs can be reduced, thereby improving the response of vehicle control sex.

Next, a control method for the above-mentioned driving safety assisting system 100 will be described through the flow chart shown in FIG. 3 . Fig. 3 shows a flowchart of a control method for the safety driving assistance system according to another embodiment of the present invention.

Referring to FIG. 3 , in step S1 , it is determined whether there is a moving object within a predetermined range around the host vehicle according to environmental information from various vehicle sensors. The determination of the moving target has been described above, so details will not be repeated here. If it is determined that there is a moving target, then the environmental information is analyzed again to obtain the state parameters of the moving target, such as the location, moving speed, moving acceleration and moving direction, etc., and store these state parameters, and then the process enters step S2 .

In step S2, it is determined whether there is a disappearance target. Specifically, when it is determined in step S1 that there is a moving object, the moving object is continuously detected, and when a moving object cannot be detected again or when another object is detected between a moving object and the host vehicle , the moving object is defined as the disappearing object, and the process proceeds to step S3 at this time.

In step S3, the state parameters corresponding to the disappearing object are searched, and based on these state parameters, the movement trajectory of the disappearing object is predicted and the movement trajectory is output, and then the process proceeds to step S4.

In step S4, by comparing the movement track of the disappearing target predicted in step S3 with the expected driving track of the host vehicle, it is determined whether there will be danger between the disappearing target and the host vehicle, wherein the host vehicle The expected driving trajectory of the vehicle is calculated in advance based on the information output from various sensors and related to the host vehicle. Specifically, in step S4, it is determined whether the predicted moving trajectory of the disappearing target and the expected driving trajectory of the host vehicle intersect or overlap. If it is determined that the predicted moving trajectory of the disappearing object does not intersect with the expected driving trajectory of the host vehicle, this indicates that there is no danger between the disappearing object and the host vehicle, and the process returns to step S1. On the contrary, if it is judged that the predicted moving trajectory of the disappearing target will intersect with the expected driving trajectory of the host vehicle, it means that there is a danger between the disappearing target and the host vehicle, that is, friction or collision may occur, and the processing will proceed Go to step S5.

In step S5, the collision time TTC between the host vehicle and the disappearing target is calculated according to the expected traveling trajectory of the host vehicle and the predicted moving trajectory of the disappearing target. For example, the initial time when the expected traveling trajectory of the host vehicle and the predicted moving trajectory of the disappearing object overlap is taken as the collision time TTC between the host vehicle and the disappearing object, and then the process proceeds to step S6.

In step S6, the degree of danger is distinguished by comparing the time-to-collision TTC with a plurality of preset time-to-collision thresholds TTC _THs , and different danger pre-warning controls are executed according to the degree of danger. For example, if the time to collision TTC is less than the first threshold TTC _TH1 (for example, 2s), an early warning signal is issued to the driver, the disappearing target or other traffic participants around the host vehicle. As another example, if the collision time TTC is less than or equal to the second threshold TTC _TH2 (for example, 1s), the host vehicle is controlled so that the host vehicle realizes automatic steering or automatic braking, wherein the second threshold TTC _TH2 is smaller than the first threshold TTC _TH1 . For another example, if the collision time TTC is less than or equal to the third threshold TTC _TH3 (for example, 0.5s), then trigger the passive safety system of the host vehicle, such as internal/external airbag, driver's head and neck protection system, etc. Damage to the driver and vanishing objects is minimized, wherein the third threshold TTC _TH3 is smaller than the second threshold TTC _TH2 .

Therefore, even if a disappearing object appears when the host vehicle moves forward or reverses, the control method according to the present invention can also determine whether there is danger (such as friction) between the disappearing object and the host vehicle by predicting the trajectory of the disappearing object. or collision, etc.), and then execute hazard pre-warning control based on the judgment result, thereby reducing the probability of traffic accidents.

In addition, the process will proceed to step S7 when the following conditions are met: when the host vehicle travels for a period of time, when the disappearing object is detected again, the time from the first detection of the disappearing object is greater than the first predetermined time length, or the distance from the disappearance The time for the object to disappear is greater than a second predetermined time length. In step S7, the state parameter corresponding to the moving object within the predetermined range is automatically eliminated, and the prediction of the moving track of the disappearing object is stopped.

Therefore, according to the control method of the embodiment of the present invention, only the trajectory of the disappearing target is predicted, and the prediction will be stopped in the above situation, so false warnings can be reduced and calculation costs can be reduced, thereby improving the responsiveness of vehicle control.

Although some exemplary examples for the safety driving assisting system according to the present invention are described above with reference to the accompanying drawings, these exemplary examples are not intended to limit the present invention, and other embodiments are also possible.

In the foregoing embodiments, the moving object detection section detects objects within a predetermined range around the host vehicle using a radar, a laser sensor, an infrared sensor, or the like. However, the moving object detection unit may also detect the moving object using a vehicle-mounted camera. When a vehicle-mounted camera is used as a sensor, the driving safety support system can instantly identify the type of the moving object by performing pattern matching processing on the moving object recognized by the camera.

In the foregoing embodiments, the moving object detection section defines and recognizes an object that cannot be detected again and/or an object that cannot be directly detected as a disappearing object. However, the moving object detection unit can also define the disappearing object in other ways. For example, when a moving object is detected, the moving object detection unit assigns an ID number to each moving object, and monitors each ID number at a predetermined sampling period. When the moving object detection section 10 detects no more information of a certain ID number or when the moving object detection section 10 detects that another ID number occurs between a certain ID number and the host vehicle, the moving object corresponding to the ID number is defined. for disappearing targets.

While the invention has been described with reference to exemplary embodiments, it should be understood that the invention is not limited to the constructions and methods of the above-described embodiments. On the contrary, the invention is intended to cover various modification examples and equivalent arrangements. In addition, while the various elements and method steps of the disclosed invention are shown in various exemplary combinations and configurations, other combinations, including more, less, or method steps, are also within the scope of the invention .

Claims (10)

1. A safety driving assistance system, comprising: a moving object detection unit configured to detect a moving object within a predetermined range around the host vehicle and store state parameters corresponding to the moving object in the storage unit of the safe driving assistance system, and is further configured to Define a moving target that cannot be detected again and/or cannot be detected directly as a disappearing target; a movement trajectory prediction unit configured to search the storage unit for state parameters corresponding to the disappearing object, and predict the movement trajectory of the disappearing object based on the state parameters of the disappearing object; a danger determination section configured to determine whether there is danger between the host vehicle and the disappearing object by comparing a predicted moving trajectory of the disappearing object with an expected traveling trajectory of the host vehicle; and A danger early warning section configured to execute danger early warning control based on a determination result of the danger determination section. 2. The safety driving assistance system according to claim 1, wherein, The risk determination section is further configured to calculate a collision time between the disappearing object and the host vehicle when the predicted moving trajectory of the disappearing object and the expected traveling trajectory of the host vehicle intersect, and The hazard warning section is further configured to perform different hazard warning controls by comparing the collision time with a plurality of preset thresholds. 3. The safety driving assistance system according to claim 2, wherein, The danger warning unit is structured as: When the collision time is less than a first threshold, an early warning signal is issued; When the time to collision is less than or equal to a second threshold, controlling the host vehicle to implement automatic braking and/or automatic steering, the second threshold being less than the first threshold; When the collision time is less than or equal to a third threshold, the passive safety system of the host vehicle is triggered, and the third threshold is smaller than the second threshold. 4. The safety driving assistance system according to any one of claims 1-3, wherein, The trajectory prediction unit is configured to: When the host vehicle travels a predetermined distance, the moving object detection unit detects the disappearing object again, the time since the first detection of the disappearing object is longer than the first predetermined time length, or the time since the disappearing object disappears When the time is greater than the second predetermined length of time, stop predicting the trajectory of the disappearing target. 5. The safety driving assistance system according to claim 3, wherein, The early warning signals include visual early warning signals, auditory early warning signals, tactile early warning signals, and communication signals sent via vehicle-to-vehicle communication. 6. The safety driving assistance system according to claim 5, wherein, The visual early warning signal includes an image of the disappearing object displayed on a display screen of the host vehicle acquired before the disappearing object disappears. 7. A control method for safe driving assistance, the control method comprising the following steps: Detecting moving objects within a predetermined range around the host vehicle and storing state parameters corresponding to the moving objects, and defining moving objects that cannot be detected again and/or cannot be directly detected as disappearing objects; Searching for state parameters corresponding to the disappearing target, and predicting the trajectory of the disappearing target based on the state parameters of the disappearing target; determining whether there is danger between the host vehicle and the disappearing object by comparing the predicted moving trajectory of the disappearing object with the expected driving trajectory of the host vehicle; and Hazard warning control is executed based on a judgment result of the danger judging unit. 8. The control method according to claim 7, further comprising the steps of: calculating a collision time between the disappearing target and the host vehicle when the predicted moving trajectory of the disappearing target and the expected traveling trajectory of the host vehicle intersect, and Different hazard pre-warning controls are performed by comparing the collision time with a plurality of preset thresholds. 9. The control method according to claim 8, further comprising the steps of: When the collision time is less than a first threshold, an early warning signal is issued; When the time to collision is less than or equal to a second threshold, controlling the host vehicle to implement automatic braking and/or automatic steering, the second threshold being less than the first threshold; When the collision time is less than or equal to a third threshold, the passive safety system of the host vehicle is triggered, and the third threshold is smaller than the second threshold. 10. The control method according to any one of claims 7-9, further comprising the steps of: When the host vehicle travels a predetermined distance, the disappearing target is detected again, the time from the first detection of the disappearing target is greater than the first predetermined time length, or the time from the disappearance of the disappearing target is greater than the second predetermined time When the length of time, stop predicting the trajectory of the disappearing target.