Automobile emergency collision avoidance hierarchical control method considering human-machine cooperation

Abstract

The invention discloses an automobile emergency collision avoidance hierarchical control method considering human-machine cooperation and relates to the field of automobile assisted driving technology. According to the method, a lateral displacement reference value, a yaw angle reference value, a yaw velocity reference value and a longitudinal velocity reference value of a desired trajectory are obtained through real-time optimization through a path dynamic planning module according to barrier information, target point coordinates and automobile travel state information collected in real time,and the values are input into a path tracking control module; meanwhile, current automobile travel state information is collected through the path tracking control module, a front wheel rotating angle and slip rates of four wheels of an automobile are obtained through real-time optimization, and the automobile is controlled to realize collision avoidance; and in the collision avoidance control process, a compensation control moment is determined according to the velocity and a front wheel additional rotating angle through an EPS moment compensation module, the steering wheel sudden change moment is controlled to be within an ideal range, and automobile emergency collision avoidance with human-machine cooperation is realized. Through the method, path dynamic planning and real-time trackingduring emergency collision avoidance are realized, and safe optimal collision avoidance is realized.

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 in consideration of man-machine harmony. 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 c...

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Problems solved by technology

[0005] In order to solve the technical problem of the uncontrollable sudden change torque of the steering wheel existing in the existing emergency collision avoidance method, which may easily lead to driver misoperation, the present invention provides a layered control method for emergency collision avoidance of automobiles that considers man-machine harmony, which can assist the driver Complete collision avoidance and save the lives of drivers and passengers in an emergency

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