The invention provides an integrated cruise control method, a visual sensor and a vehicle, and the method comprises the steps: carrying out the image collection of a lane environment through an image collection device, carrying out the target detection of an image collection result through a controller, carrying out the data fusion through combining with a target detection result of a radar sensor, and determining the information of lane lines at two sides of a vehicle and the motion information of a front vehicle; the controller determines whether to trigger a transverse control function and/or a longitudinal control function according to the vehicle motion information, the front vehicle motion information and the lane line information; when the transverse control function is triggered, a transverse control instruction is determined through the controller and sent to the steering mechanism, so that the vehicle is located in the center of a lane; and when the longitudinal control function is triggered, a longitudinal control instruction is determined through the controller and sent to the longitudinal control execution mechanism, so that the vehicle and the front vehicle are located within the safe distance range. The transverse control function and the longitudinal control function are integrated in the visual sensor at the same time, the integrated cruise control precision is improved, and the research and development cost is reduced.
本发明提供的集成巡航控制方法、视觉传感器及车辆,包括:图像采集装置对车道环境进行图像采集,控制器对图像采集结果进行目标检测并结合雷达传感器的目标检测结果进行数据融合,确定本车两侧的车道线信息和前方车辆运动信息;控制器根据本车运动信息、前方车辆运动信息、车道线信息确定是否触发横向控制功能和/或纵向控制功能;当触发横向控制功能,通过控制器确定横向控制指令并发送给转向机构,以使本车位于车道中心;当触发纵向控制功能,通过控制器确定纵向控制指令并发送给纵向控制执行机构,以使本车与前方车辆位于安全距离范围内。本发明在视觉传感器内同时集成横向控制和纵向控制功能,提高了集成巡航控制精度,降低研发成本。
Integrated cruise control method, visual sensor and vehicle
集成巡航控制方法、视觉传感器及车辆
2024-04-05
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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