A kind of vehicle active anti-collision automatic lane change control system and its working method

Abstract

The invention discloses an automobile active anti-collision automatic lane change control system and an operating method thereof. The system comprises a real-time driving safety state judging module and an automatic lane change control module which are connected with each other; the real-time driving safety state judging module comprises a critical braking distance calculation module and a safety state judging module unit; the automatic lane change control module comprises a lateral dynamics and CarSim vehicle dynamics model establishing module, an expected yaw velocity acquiring module and a design terminal sliding formwork lane change controller module. The method includes two steps of driving safety state judgment and automatic lane change control. The system and method adopt pedestrians in front as the study objects of active anti-collision, whether driving is in the dangerous state or not can be judged by calculating the critical braking distance and corresponded automatic control is performed, the smoothness and operating stability during lane change are guaranteed, and safety of the pedestrians in front is guaranteed.

Description

technical field

[0001] The invention belongs to the field of automobile intelligent control, relates to a vehicle automatic lane change control technology, in particular to an automobile active anti-collision automatic lane change control system and a working method thereof. Background technique

[0002] With the emphasis on road traffic safety in various countries and the continuous development of intelligent transportation systems, the active collision avoidance system of automobiles has become a research hotspot at home and abroad. In the existing active collision avoidance system of automobiles, the vehicle in front is mainly considered, and traffic vulnerable groups such as pedestrians outside the vehicle are not considered. When running into an emergency, the driver is usually used to operating the brakes to stop the vehicle so as to avoid obstacles instead of steering to avoid obstacles. In response to these two problems, the establishment of a pedestrian safety-base...

Examples

Embodiment Construction

[0081] The present invention will be further described below in conjunction with the accompanying drawings. Such as figure 1 Shown, a kind of automobile active anti-collision automatic lane-changing control system, comprises real-time driving safety state judging module and automatic lane-changing control module, described real-time driving safety state judging module is connected in series with automatic lane-changing control module; The real-time driving safety state judgment module includes a braking critical distance module and a safety state judgment module, and the automatic lane change control module includes a lateral dynamics and CarSim vehicle dynamics model module, a desired yaw rate module and a terminal sliding mode lane change controller module.

[0082] Such as figure 2 As shown, an automatic lane-changing control of an automobile active collision avoidance system includes the expected yaw rate, the terminal sliding mode controller, the CarSim vehicle model a...

technical field

[0001] The invention belongs to the field of automobile intelligent control, relates to a vehicle automatic lane change control technology, in particular to an automobile active anti-collision automatic lane change control system and a working method thereof. Background technique

[0002] With the emphasis on road traffic safety in various countries and the continuous development of intelligent transportation systems, the active collision avoidance system of automobiles has become a research hotspot at home and abroad. In the existing active collision avoidance system of automobiles, the vehicle in front is mainly considered, and traffic vulnerable groups such as pedestrians outside the vehicle are not considered. When running into an emergency, the driver is usually used to operating the brakes to stop the vehicle so as to avoid obstacles instead of steering to avoid obstacles. In response to these two problems, the establishment of a pedestrian safety-base...

Examples

Embodiment Construction

[0081] The present invention will be further described below in conjunction with the accompanying drawings. Such as figure 1 Shown, a kind of automobile active anti-collision automatic lane-changing control system, comprises real-time driving safety state judging module and automatic lane-changing control module, described real-time driving safety state judging module is connected in series with automatic lane-changing control module; The real-time driving safety state judgment module includes a braking critical distance module and a safety state judgment module, and the automatic lane change control module includes a lateral dynamics and CarSim vehicle dynamics model module, a desired yaw rate module and a terminal sliding mode lane change controller module.

[0082] Such as figure 2 As shown, an automatic lane-changing control of an automobile active collision avoidance system includes the expected yaw rate, the terminal sliding mode controller, the CarSim vehicle model a...

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