Automobile and pedestrian anti-collision intelligent control system and method based on pedestrian and automobile cooperation

Abstract

The invention provides an automobile and pedestrian anti-collision intelligent control system and method based on pedestrian and automobile cooperation. The control system is provided with an automobile-mounted sensor, a road information acquisition module, a microprocessor, an early warning device, a dangerous zone difference module, an expected acceleration generating module and a braking control module. The control method includes the steps that information of an automobile and surroundings of the automobile is acquired, and information characteristics of pedestrians in front of the automobile are extracted; a safe distance model of the automobile and the pedestrians is established, dangerous zone judging and differentiating criteria are designed, an early warning is given in an early warning zone to remind a driver, and auxiliary braking control is conducted in a dangerous zone; based on the longitudinal motion characteristics of the automobile and the pedestrians, a pedestrian and automobile interval longitudinal kinetic model and an automobile acceleration response model are established, and a pedestrian and automobile coupling kinetic model is comprehensively generated; the expected acceleration needed for avoiding pedestrian and automobile collisions is dynamically planned in real time; and a nerve fuzzy sliding formwork braking controller is designed, commands for braking pressure are adjusted to complete tracking of the expected acceleration, and active protection and anti-collision conducted by the automobile to the pedestrians are achieved.

Description

technical field [0001] The invention belongs to the field of automobile active safety and assisted driving, and in particular relates to an intelligent control system and method for collision avoidance of automobiles and pedestrians based on human-vehicle coordination. Background technique [0002] Automobile-pedestrian collision is one of the main types of road traffic accidents, and it is also the main factor that causes victims of vulnerable groups of pedestrians. How to develop and design an active collision avoidance system for pedestrians, avoid collision accidents between cars and pedestrians as much as possible, realize active protection for pedestrians in front of cars, and improve road safety, has a wide range of practical application values. [0003] Document 1 (BoLi, etc. Pedestrian Detection Based on Clustered Poselet Models and Hierarchical And-Or Grammar [J]. IEEE Transaction on Vehicular Technology, 2015, 64(4): 1435-1444.) proposed a pedestrian detection and...

AI Technical Summary

Problems solved by technology

However, the mutual coupling and mutual influence between pedestrians and vehicles in the dangerous area, and the random uncertainty of pedestrian motion characteristics and the nonlinearity of vehicle longitudinal dynamics greatly increase the difficulty of designing active pedestrian collision avoidance control systems.

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