Vehicle security anti-collision control method based on TTC of rolling optimization parameters

Abstract

The invention discloses a vehicle security anti-collision control method based on TTC of rolling optimization parameters. A control vehicle acquires position information, speed information and acceleration information of a target vehicle via a vehicle-mounted sensor, inputs owns information to a computing module to acquire information such as a distance between the two vehicles, a relative speed of the two vehicles, and the acceleration of the control vehicle, and performs rolling optimization computation, and thus the parameters with relatively good performance and relatively strong robustness are achieved under the affect of a target function and a constraint condition, and the parameters are input into a two-order TTC safety anti-collision time model for computing and judging. Accordingto the method, the optimized performance indexes are acquired via the rolling optimization algorithm, and compared with unoptimized performance indexes, the performance indexes after rolling optimization are more accordant with the actual condition under the effect of the target function and the constraint condition, motion of the target vehicle at the next moment can be predicted, the control vehicle acts correspondingly, and thus collision is avoided; higher accuracy is achieved, and a TTC value at the current moment can be well computed.

Description

technical field [0001] The invention relates to the field of automatic driving braking control, in particular to a TTC vehicle safety anti-collision control method based on rolling optimization parameters. Background technique [0002] With the rise of autonomous driving technology and the sharp increase in car ownership, problems such as harsh traffic environment and traffic safety hazards have become increasingly prominent. Among them, vehicle collision avoidance control has become a research focus in the field of autonomous driving. Both the complex traffic environment and the driver's misjudgment of the safe collision distance may cause serious traffic hazards. [0003] The main working principle of the safety collision avoidance system in vehicle automatic driving technology is: the control vehicle obtains a series of information of the target vehicle including position distance information, speed information, acceleration information and so on through various sensors s...

AI Technical Summary

Problems solved by technology

The driver's preview algorithm mainly relies on the driver's self-awareness judgment. When there is a large interference from the outside world, it will cause a large error in the driver's preview algorithm, which cannot guarantee the accuracy of the safety collision avoidance system; the safety collision distance algorithm The calculation of the braking distance is mainly based on the calculation of the braking distance in stages, and the calculation amount is large, which will reduce the real-time performance of the safety collision avoidance system; the safety collision time algorithm is mainly to calculate the collision time to judge whether to take anti-collision measures, but There may be an infinite collision time, which is not conducive to the judgment of the current moment, and the accuracy is low

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