A vehicle emergency collision avoidance control method considering moving obstacles

A control method and technology for obstacles, applied in the directions of control devices, vehicle components, transportation and packaging, etc., can solve the problems of unconsidered, unsafe and reliable collision avoidance process, etc.

Inactive Publication Date: 2019-07-30
CHANGCHUN UNIV OF TECH
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Problems solved by technology

[0004] In order to solve the technical problem that the existing emergency collision avoidance method does not consider the dynamic change of the position of the moving obstacle during the collision avoidance process, which leads to the unsafe and reliable technical problem of the collision avoidance process, the present invention provides a vehicle emergency collision avoidance method considering the moving obstacle The control method can assist the driver to achieve safe and reliable collision avoidance, and save the driver's life in an emergency

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  • A vehicle emergency collision avoidance control method considering moving obstacles
  • A vehicle emergency collision avoidance control method considering moving obstacles
  • A vehicle emergency collision avoidance control method considering moving obstacles

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Embodiment Construction

[0075] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0076] Such as figure 1 As shown, the vehicle emergency collision avoidance control method considering moving obstacles in the present invention is: path dynamic planning and real-time tracking control module 1, according to the obstacle information collected in real time, target point coordinates, vehicle driving state information, real-time optimization to obtain the vehicle 2 The steering angle of the front wheels and the slip ratio of the four wheels are used to control the vehicle 2 to avoid collisions; the obstacle information includes the discrete point coordinates of the obstacle outline, which are obtained from the measurement of the radar sensor; the driving state information of the vehicle includes the vehicle longitudinal speed, side The longitudinal speed and lateral speed of the car are measured by the vehicle speed sensor, and t...

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Abstract

An automotive emergency collision avoidance control method considering moving obstacles relates to the technical field of advanced automobile driver assistance. The method utilizes a path dynamic planning and a real-time tracking control module for real-time optimization to obtain the slip ratio of automobile front-wheel angle and four wheels according to real-time acquisition obstacle information, target point coordinates and automobile driving status information, thereby controlling the car to achieve collision avoidance. The method constructs a multi-objective optimization problem based onmodel predictive control and then formulates a non-collision path in the form of dynamic constraint. Compared with the traditional hierarchical method, the real-time performance is high, the path satisfies the dynamic constraint, and the collision avoidance process is more reliable. The method transforms the motion of the obstacle into the dynamic constraint of collision avoidance control optimization solution through the change of the obstacle coordinates so as to solve the problem of the moving obstacle in collision avoidance control.

Description

technical field [0001] The invention relates to the technical field of advanced driving assistance for automobiles, in particular to an emergency collision avoidance control method for automobiles considering moving obstacles. Background technique [0002] Cars can bring convenience and speed to people, and their driving safety has become a global social problem. In order to further improve road traffic safety and help drivers reduce erroneous operations, smart car safety technologies represented by Advanced Driver Assistance Systems (Advanced Driver Assistance Systems, ADAS) have gradually received attention and development in recent years. The vehicle emergency collision avoidance system assists the driver to adjust the vehicle's trajectory through the active intervention of the actuator to achieve collision avoidance. It can save the lives of drivers and passengers in critical moments, and has a good market prospect. [0003] There have been a lot of research results on...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/09B60W40/02B60W40/105B60W40/112
CPCB60W30/09B60W40/02B60W40/105B60W40/112B60W2520/10B60W2554/00
Inventor 李绍松王国栋卢晓晖崔高健郑顺航李光军李政张晋荣耀
Owner CHANGCHUN UNIV OF TECH
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