An integrated vehicle emergency collision avoidance control method for avoiding moving obstacles

Abstract

The invention relates to an automobile emergency collision avoidance integrated control method for avoiding a moving obstacle. The automobile emergency collision avoidance integrated control method for avoiding the moving obstacle is characterized in that real time optimization is carried out to obtain the front wheel rotation angle and slip rates of four wheels of the automobile by utilizing a path dynamic planning and real-time tracking control module according to obstacle information, target point coordinates and automobile driving state information collected in real time, to further control the automobile to achieve collision avoidance, wherein the obstacle information includes the discrete point coordinates, of the contour of the obstacle, measured by a radar sensor, and the automobile driving state information includes the longitudinal velocity and the side velocity of the automobile measured by a vehicle speed sensor, and the yaw velocity measured by a gyroscope. During the collision avoidance control process, the torque compensation control gain is determined by an electric power steering (EPS) torque compensation module based on the vehicle speed and the front wheel additional rotation angle, and the abrupt torque of a steering wheel is controlled to be within the ideal range, to achieve automobile emergency collision avoidance featured with human-machine harmoniousness.

Description

technical field [0001] The invention relates to the technical field of advanced driving assistance for automobiles, in particular to an integrated control method for emergency collision avoidance of automobiles which avoids 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 rese...

AI Technical Summary

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 moving obstacle position during the collision avoidance process, which leads to the unsafe collision avoidance process, and the sudden change torque of the steering wheel in the existing emergency collision avoidance method is uncontrollable The technical problem that easily leads to misoperation by the driver, the present invention provides an integrated control method for vehicle emergency collision avoidance to avoid moving obstacles, which can assist the driver to achieve safe and reliable collision avoidance, and save the driver's life in an emergency

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