An Adaptive Obstacle Avoidance Control System for Intelligent Driving Vehicles

Abstract

The invention discloses an adaptive obstacle avoidance control system for an intelligent driving car. The information acquisition layer includes the vehicle driving state perception module and the vehicle driving environment perception module, which collects vehicle driving state information and environmental information and transmits them to the information processing layer; the information processing layer includes an uncertain obstacle avoidance model and an interval safety distance model. The obstacle avoidance model calculates the boundary value constraint conditions during obstacle avoidance and transmits it to the motion control layer. The interval safety distance model calculates the safety distance suitable for drivers with different driving characteristics and transmits it to the motion control layer; The information calculates the optimal obstacle avoidance manipulation input command and transmits it to the execution layer; the execution layer includes the controller and the steering motor, and the controller controls the rotation angle of the steering motor according to the optimal obstacle avoidance manipulation input command to realize adaptive obstacle avoidance. The invention takes into account the uncertainty of the obstacle avoidance environment and the individual differences of the drivers, and is beneficial to improving the safety in the complex road traffic environment.

Description

technical field [0001] The invention belongs to the technical field of automobile intelligence, and in particular relates to an automobile obstacle avoidance system. Background technique [0002] The electrification, intelligence, networking, and sharing of automobiles have become the main trends in the development of the world's automobile industry. Among them, automobile intelligence is a key technical approach to solve many problems such as automobile safety, congestion and environmental protection in complex traffic environments, and it is also an inevitable trend in the development of automobile active safety technology. [0003] Realizing fast and accurate obstacle avoidance is the difficulty and focus of automobile intelligent research. Due to the complexity of the actual road environment, the obstacles in the complex traffic environment are dynamic and random; the vehicle itself has strong nonlinearity, and the drivers also have individual differences, which makes o...

AI Technical Summary

Problems solved by technology

Due to the complexity of the actual road environment, the obstacles in the complex traffic environment are dynamic and random; the vehicle itself has strong nonlinearity, and the drivers also have individual differences, which makes obstacle avoidance path planning and motion control face huge challenges. challenge

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