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Automobile emergency collision-avoidance layered control method taking moving obstacles into account

A control method and obstacle technology, applied in non-electric variable control, two-dimensional position/course control, vehicle position/route/height control, etc., can solve problems such as not considering dynamic changes, unsafe and reliable collision avoidance process, etc.

Inactive Publication Date: 2018-04-03
CHANGCHUN UNIV OF TECH
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Problems solved by technology

[0005] 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 in the collision avoidance process, which leads to the unsafe and reliable technical problem of the collision avoidance process, the present invention provides a car emergency collision avoidance considering the moving obstacle The layered control method can assist the driver to complete collision avoidance and save the lives of drivers and passengers in an emergency

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  • Automobile emergency collision-avoidance layered control method taking moving obstacles into account
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  • Automobile emergency collision-avoidance layered control method taking moving obstacles into account

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Embodiment Construction

[0115] The present invention will be described in further detail below in conjunction with accompanying drawings and examples.

[0116] Such as figure 1 As shown, a layered control method for emergency collision avoidance of vehicles considering moving obstacles in the present invention includes the following steps: the path dynamic planning module 1 optimizes in real time according to the obstacle information, target point coordinates, and vehicle driving state information collected in real time. The lateral displacement reference value, the yaw angle reference value, the yaw rate reference value, and the longitudinal speed reference value of the expected trajectory are input to the path tracking control module 2, and the path tracking control module 2 collects the current vehicle driving status information at the same time Optimize the front wheel angle of the car 3 and the slip ratio of the four wheels of the car, and control the car 3 to avoid collisions; among them, the o...

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Abstract

The invention relates to an automobile emergency collision-avoidance layered control method taking moving obstacles into account. The automobile emergency collision-avoidance layered control method taking the moving obstacles into account is characterized by including the steps that through a path dynamic planning module, according to obstacle information, coordinates of target points and automobile driving state information which are collected in real time, a lateral displacement reference value, a yaw angle reference value, a yaw angular velocity reference value and a longitudinal velocity reference value of an expected trajectory are obtained by real-time optimization and are input into a path tracking control module, at the same time, through the path tracking control module, current automobile driving state information is collected, turning angles of front wheels and the slip rate of four wheels of an automobile are obtained by real-time optimization, and the automobile is controlled to avoid collision.

Description

technical field [0001] The invention relates to the technical field of automobile auxiliary driving, in particular to a layered control method for emergency collision avoidance of 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] Real-time planning and tracking of a collision-fr...

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Application Information

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IPC IPC(8): B60W30/08B60W30/095G05D1/02
CPCB60W30/08B60W30/0953B60W2050/0031B60W2520/10B60W2520/105B60W2520/12B60W2520/125B60W2550/10G05D1/0214
Inventor 李绍松王国栋卢晓晖郑顺航张邦成崔高健于志新郭陆平李政
Owner CHANGCHUN UNIV OF TECH
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