Vehicle active collision avoidance system and collision avoidance manner switching method thereof

Abstract

The invention discloses a vehicle active collision avoidance system and a collision avoidance manner switching method thereof. The vehicle obstacle distance <X vehicle-obstacle>, the main vehicle speed <v0>, the obstacle vehicle width w, the road attachment coefficient mu and other driving information in the vehicle running process are obtained according to an information collecting module, and atrack planning module is used for planning quintic polynomial constant-speed and variable-speed lane changing tracks. Based on the driving information and the quintic polynomial collision avoidance track, the early warning distance <X early warning>, the braking collision avoidance critical safety distance <X braking>, the steering collision avoidance critical safety distance <X steering> and thecollaborative collision avoidance critical safety distance <X collaboration> are calculated. The driving information measured in real time and the calculated critical safety distance of three collision avoidance manners are input into a collision avoidance manner judgment module, and accordingly the optimal collision avoidance manner is determined. Finally, a collision avoidance control module selects the corresponding control method to control the vehicle to finish collision avoidance. The vehicle active collision avoidance system and the collision avoidance manner switching method thereof effectively overcome defects of a single collision avoidance manner, the vehicle collision avoidance capability can be further improved, more effectiveness is achieved in the aspect of reduction of thetraffic accident incidence rate, and accordingly the accident damage is relieved to the maximum degree.

Description

Technical field [0001] The invention belongs to the field of vehicle active safety, in particular to a vehicle active collision avoidance system and a method for switching collision avoidance modes. Background technique [0002] The advent of the era of artificial intelligence has made smart vehicles a research focus in recent years. In the field of smart vehicles, traffic safety is the most critical issue that affects their on-roads. As one of the core subsystems of intelligent vehicles, the active collision avoidance system is of great significance to the improvement of driving safety. When the vehicle-mounted radar and sensors detect a dangerous situation ahead and the driver cannot take timely measures, the active collision avoidance system will automatically take over the vehicle and control the vehicle to avoid danger, thereby avoiding traffic accidents. The development of the active collision avoidance system has gone through two stages, the longitudinal (brake) collisio...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the problem that the current active collision avoidance system adopts a single sub-mode for collision avoidance, resulting in a large difference in the collision avoidance effect under different working conditions, or even a collision avoidance failure, the present invention proposes an active collision avoidance system for vehicles and a method for switching collision avoidance modes. Improve its adaptability in different dangerous working conditions

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