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

A control method and layered technology, applied in the direction of electric steering mechanism, special data processing applications, instruments, etc., can solve problems such as driver's misoperation and uncontrollable abrupt torque of steering wheel

Inactive Publication Date: 2018-04-06
CHANGCHUN UNIV OF TECH
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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 inventi

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

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Embodiment Construction

[0116] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0117] Such as figure 1 As shown, the car emergency collision avoidance layered control method considering man-machine harmony in the present invention includes the following steps: the path dynamic planning module 1 obtains the expected result by real-time optimization according to the obstacle information, target point coordinates, and vehicle driving state information collected in real time. The lateral displacement reference value, yaw angle reference value, yaw rate reference value, and longitudinal speed reference value of the track are input to the path tracking control module 2, and the path tracking control module 2 collects the current vehicle driving state information and optimizes it in real time. According to the front wheel angle of the car 3 and the slip ratio of the four wheels of the car, the car 3 is controlled to assist the ...

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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...

Claims

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Application Information

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IPC IPC(8): G06F17/50B60W30/09B62D5/04
CPCB60W30/09B60W2710/202B62D5/04G06F30/15
Inventor 李绍松郭陆平于志新崔高健郑顺航朱峰挺闫旭刘秀峰吴晓东
Owner CHANGCHUN UNIV OF TECH
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