Collision avoidance control method and system for automatic driving

A technology of automatic driving and control method, applied in the direction of control device, input parameters of external conditions, transportation and packaging, etc., can solve the problems of incomplete system, not considering the situation of following the car, and achieve both safety and vehicle. The effect of driving efficiency

Active Publication Date: 2018-06-22
清华大学苏州汽车研究院(吴江)
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  • Application Information

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Problems solved by technology

The system is limited to low-speed conditions below 30km / h, and does not take into account the situation of following vehicles in traffic jams, so the system is relatively incomplete

Method used

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  • Collision avoidance control method and system for automatic driving

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Embodiment

[0028] The preferred embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0029] Such as figure 1 As shown, the collision avoidance control method of the present invention comprises the following steps:

[0030] After the self-driving vehicle is started, it starts to run the safety collision avoidance control algorithm;

[0031] Start the environment perception system to monitor the obstacles around the vehicle;

[0032] The environment perception system based on self-driving cars is mainly composed of radar, visual camera, V2X, positioning and other systems. Radar includes lidar, millimeter-wave radar and ultrasonic radar; visual cameras include high-definition cameras and high-dynamic cameras to meet different functional requirements of the system; V2X includes special equipment for 4G / 5G and DSRC / LTE-V technologies; positioning systems It is satellite positioning, inertial measurement, visual matching posit...

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Abstract

The invention discloses a collision avoidance control method for automatic driving. The method comprises the steps that when it is detected that an obstacle exists in a planning driving path of an automatic driving vehicle, the collision time of the automatic driving vehicle and the obstacle is calculated; if the collision time is smaller than a set safety threshold value, a safety collision avoidance operation is executed; if the collision time is smaller than or equal to a set emergent braking threshold value, an emergent braking operation is executed; the relative speed of the automatic driving vehicle and the obstacle is calculated; if the relative speed is larger than or equal to a common braking threshold value, a common braking operation is executed; if the relative speed is largerthan a vehicle following cruising threshold value, the real-time distance between the automatic driving vehicle and the obstacle is calculated, and if the real-time distance is longer than a minimum line changing distance, a line changing operation is executed; otherwise, a vehicle following cruising operation is executed. According to the collision avoidance control method for automatic driving,overall planning is conducted for different complex working conditions, an optimal collision avoidance behavioral mode is given based on a vehicle self-state under different working conditions, the method is suitable for a working condition that the vehicle speed of the automatic driving vehicle is 60 km/h or below, and the safety of efficient vehicle driving can be achieved.

Description

technical field [0001] The invention relates to a collision avoidance control method for automatic driving, in particular to a collision avoidance behavior control method and system for automatic driving that is applicable to 60km / h and below and can be adapted to different complex working conditions. Background technique [0002] With the development of science and technology, self-driving cars are gradually becoming mature. The key issues affecting the driving of cars are their safety and reliability, which reflects the level of autonomous driving development to a certain extent. Among them, the safety collision avoidance function is an important function of the automatic driving technology, and the safety collision avoidance has become an indispensable functional system on the vehicle. It can significantly reduce the tension and fatigue of the driver, and assist or replace the driver to take collision avoidance measures in the event of a dangerous obstacle to avoid colli...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/09B60W40/02
CPCB60W30/09B60W40/02B60W2554/00
Inventor 戴一凡徐巍李敏卢贤票
Owner 清华大学苏州汽车研究院(吴江)
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