A vehicle collision avoidance control method

Abstract

The invention discloses a vehicle collision avoidance control method. The vehicle obtains the information of the vehicle's own speed, the vehicle's own acceleration, the speed of the vehicle in front, the acceleration of the vehicle in front, and the distance between the vehicle itself and the vehicle in front through the vehicle's environmental perception ability, and establishes steering / braking Collision avoidance action decision-making mechanism, the current vehicle collision risk level meets the requirement that the longitudinal distance Dadj between the vehicle itself and the preceding vehicle is not less than the minimum longitudinal distance DM‑Fd between the vehicle itself and the preceding vehicle, then turn to avoid collision, if or the current road conditions are not satisfied When turning to the collision avoidance condition, the longitudinal braking collision avoidance control is carried out, and the steering collision avoidance and braking collision avoidance control are combined to ensure that the brake collision avoidance or steering collision avoidance action with the largest safety benefit is selected when the vehicle is in distress. Greatly improve the collision avoidance ability of intelligent vehicles and improve the level of road traffic safety.

Description

technical field [0001] The invention belongs to the field of intelligent vehicle control, in particular to a vehicle collision avoidance control method. Background technique [0002] With the continuous increase of the number of vehicles in the world, the problem of road traffic safety is becoming increasingly serious. At the same time, the intelligence level of automobiles continues to improve, and more and more automobiles integrate advanced driver assistance (ADAS) functions, which effectively improve the active safety of vehicles. However, the current collision avoidance control for intelligent vehicles is mostly through the coordinated control of the throttle opening and brake pressure to maintain the inter-vehicle distance and follow the vehicle speed, and insufficient consideration is given to the ride comfort and road adhesion during braking. The few other collision avoidance control systems are based on the lane change collision avoidance trajectory, and the latera...

AI Technical Summary

Problems solved by technology

However, the current collision avoidance control for intelligent vehicles is mostly through the coordinated control of the throttle opening and brake pressure to maintain the inter-vehicle distance and follow the vehicle speed, and insufficient consideration is given to the ride comfort and road adhesion during the braking process.

The few other collision avoidance control systems are based on the lane change collision avoidance trajectory, and the lateral controller is designed for steering collision avoidance control. However, most of them only consider stationary obstacles such as pedestrians, and their application range is limited, which is quite different from the actual driving conditions.

[0003] It can be seen that the current intelligent vehicle collision avoidance control system mostly separates braking and steering for separate research, and fails to realize the collision avoidance potential of braking and steering.

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