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A collision avoidance method for driverless cars

A driverless car and collision avoidance technology, applied to vehicle components, external condition input parameters, control devices, etc., to improve driving safety and prevent collision accidents

Active Publication Date: 2019-06-04
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Purpose of the invention: the technical problem to be solved by the present invention is to overcome the defects of existing collision avoidance strategies and provide a vehicle collision avoidance strategy under emergency road conditions

Method used

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  • A collision avoidance method for driverless cars
  • A collision avoidance method for driverless cars
  • A collision avoidance method for driverless cars

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Embodiment Construction

[0019] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0020] A kind of unmanned vehicle collision avoidance strategy of the present invention, concrete process is as follows:

[0021] Step 1, such as figure 1 As shown, the millimeter radar on the car measures the self-car F and the front vehicle D 1 distance S 1 , The self-vehicle and the adjacent lane interfering vehicle D 2 distance S 2 , the relative speed of the self-vehicle and the interfering vehicle, and the wheel speed sensor measures the speed of the self-vehicle U 1 , the speed of the interfering vehicle U is obtained by the vehicle speed of the self-vehicle and the relative speed of the self-vehicle and the interfering vehicle 2 . The yaw rate sensor detects the yaw rate signals, and transmits these signals to the Freescale series MC9S12DP512 MCU through serial port communication.

[0022] Step 2, such as figure 2 As shown, the electronic con...

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PUM

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Abstract

The invention discloses a collision avoidance strategy of a pilotless vehicle. Relevant sensors on an automobile collect information of a vehicle and outside vehicles, as well as information of a road, the information is transmitted to an ECU, the ECU analyzes the signals of the sensors, calculates the braking and steering safety distances, determines an emergency state to which the vehicle belongs, and rapidly plans appropriate collision avoidance manners, which include performing brake for collision avoidance, performing steering for collision avoidance and performing brake and steering segmentally for collision avoidance, an early warning system of the vehicle is controlled to give early warnings in a way of buzzer alarm so that the outside vehicles, a brake system and a steering system implement corresponding collision avoidance instructions, and the value of TTC<1> and the value of yaw rate are monitored and calculated in real time. Under the condition of guaranteeing stability of the vehicle, collision accidents of the vehicle are effectively prevented, and the running safety of the pilotless vehicle is improved.

Description

technical field [0001] The invention relates to a collision avoidance strategy, specifically a collision avoidance strategy for an unmanned vehicle, which belongs to the field of automobile active safety. Background technique [0002] With the development of computer technology and environmental perception technology, more and more automatic control technologies are applied to automobiles, and unmanned vehicles have also become a major change in the automobile industry. In the research process of unmanned driving technology, it is of great significance to improve the safety of unmanned vehicles to avoid collisions between unmanned vehicles and front vehicles, rear vehicles or guardrails in emergency situations. [0003] The collision avoidance methods include longitudinal braking collision avoidance and lateral steering collision avoidance. Longitudinal braking and collision avoidance will cause problems such as unbalanced braking force on both sides of the vehicle and long...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/09B60W40/105B60W10/18B60W10/20B60Q5/00
CPCB60Q5/006B60W10/18B60W10/20B60W30/09B60W40/105B60W2520/10B60W2554/801B60W2554/804B60W2710/18B60W2710/20
Inventor 严明月魏民祥汪池东亮张凤娇张佳佳项楚勇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS