Aggressive aided driving curve obstacle avoidance lane changing path planning system and method

A technology for assisted driving and path planning, applied in the field of assisted driving, which can solve the problems of scaring vehicles behind, reducing vehicle traffic efficiency, and traffic accidents.

Active Publication Date: 2019-12-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Application Information

AI Technical Summary

Problems solved by technology

In the selection of emergency obstacle avoidance methods, when it is detected that there is no vehicle in the adjacent lane, if emergency braking is perf

Method used

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  • Aggressive aided driving curve obstacle avoidance lane changing path planning system and method
  • Aggressive aided driving curve obstacle avoidance lane changing path planning system and method
  • Aggressive aided driving curve obstacle avoidance lane changing path planning system and method

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Embodiment Construction

[0062] The present invention will be further explained below in conjunction with the accompanying drawings.

[0063] like figure 1 Shown is the logic block diagram of the system, which is divided into seven parts, environment perception unit, ego sensor unit, CAN bus, VCU, steering-by-wire unit, brake-by-wire unit, and speed control unit. The following is a specific explanation of the block diagram process:

[0064] The environment perception unit includes a camera, laser radar and millimeter wave radar; the vehicle sensor unit includes a vehicle speed sensor, an acceleration sensor, and a front wheel angle sensor; the camera is installed directly above the vehicle windshield for identifying lane lines Information, obstacle information, lane speed limit, and the image information is transmitted to the VCU; the number of the laser radars is at least 2 (to ensure the safety of front-end detection and prevent danger caused by a single radar failure), which are respectively insta...

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Abstract

The invention discloses an aggressive aided driving curve obstacle avoidance lane changing path planning method. A required aided driving system comprises an environment sensing unit, a self-vehicle sensor unit, a CAN, an ECU, a steer-by-wire unit, a brake-by-wire unit and a speed control unit. A curve obstacle avoidance decision-making method comprises the steps that (1) the distance between twovehicles is smaller than the safety distance; (2) the front vehicle speed within the detection range is smaller than the lane speed limit multiplied by a certain proportion, and (3) the front vehiclebrakes abnormally, and changes lanes if one condition is met and no vehicle exists in the left lane of the front vehicle. According to the path planning method, a lane changing path is planned througha quintic polynomial, and then an optimal path is obtained according to a target function considering the longitudinal distance, the lateral acceleration, the yaw velocity and the side slip angle. According to the invention, the unnecessary emergency braking is avoided, the overall safety and the passing efficiency of the traffic are improved, and the pursuit of time saving of a sharp driving style driver is also met; and the lane changing path is planned by taking the stability and the lane changing distance as the evaluation indexes, so that the lane changing stability is guaranteed.

Description

technical field [0001] The invention relates to the technical field of driving assistance, in particular to a path planning system and method for aggressive driving assistance in curves, obstacle avoidance and lane change. Background technique [0002] With the advent of the era of artificial intelligence, intelligent vehicles have become a research hotspot today. The biggest problem for smart vehicles on the road is safety, and the active safety technology of automobiles has attracted more and more attention. [0003] According to the driver's driving behavior, it can be divided into three types: cautious type, normal type and aggressive type. According to research, the more aggressive the driving style, the less the driver pays attention to the surrounding environment, the worse the stability of the lateral control of the vehicle, and the higher the frequency of lane changes. The aggressive driver is often not satisfied with following the slow car ahead, but Gain a speed...

Claims

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Application Information

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IPC IPC(8): B60W30/18B60W30/095B60W10/08B60W10/18B60W10/20
CPCB60W10/08B60W10/18B60W10/20B60W30/0953B60W30/18163B60W2520/10B60W2520/105B60W2710/08B60W2710/18B60W2710/20B60W2720/10
Inventor 吴树凡魏民祥任师通滕德成贾晟
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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