Automatic driving vehicle safe passing method and system based on fuzzy controller

Abstract

The invention discloses an automatic driving vehicle safe passing method and system based on a fuzzy controller, and the method is used for an intersection without a signal lamp, and comprises the steps: obtaining the state information of surrounding vehicles and automatic driving vehicles; calculating two-direction instantaneous collision time of the automatic driving vehicle and surrounding vehicles at the moment k; according to the instantaneous collision time along the X direction and the Y direction of the intersection, reasoning and deciding the acceleration executed by the automatic driving vehicle at the moment k through a fuzzy controller; controlling the opening degree of a throttle valve and the pressure of a brake wheel cylinder to execute an acceleration strategy adopted by the automatic driving vehicle decided at the moment k; updating the state information of the automatic driving vehicle and the surrounding vehicles and the road information at the k + 1 moment so as tomake a rolling decision of the next round; and executing all the steps repeatedly until the automatic driving vehicle safely passes through the intersection or stops to avoid collision. The method simulates the actual operation response of a driver when the driver encounters a collision risk, is high in reliability and good in real-time performance, and meets the requirements of safe passage and collision avoidance.

Description

technical field [0001] The present invention relates to the technical field of behavior decision-making of automatic driving vehicles, in particular to a method and system for safe passage of automatic driving vehicles based on a fuzzy controller. Background technique [0002] With the continuous development of my country's economy and society, cars have entered thousands of households, bringing great convenience to people's life and travel, but also brought many problems, the most prominent of which is the number of casualties caused by frequent traffic accidents constant increase. Traffic accidents mainly occur at intersections without signal lights. Intersections are intersection areas of multi-directional roads, where vehicles gather and turn on intersecting roads. The traffic flow is dense and the traffic conditions are complex. In addition, some intersections do not have the guidance of traffic lights, and the order of passing depends entirely on the game between drive...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of safe passage of self-driving vehicles in complex open scenes without signal lights, the present invention provides a method and system for safe passage of self-driving vehicles based on a fuzzy controller. The actual operation response in the event of risk has high reliability and good real-time performance. It can accurately simulate the way people deal with unclear situations, meet the requirements for safe passage and collision avoidance of self-driving vehicles under actual road traffic conditions, and solve the problem of self-driving vehicles in the absence of traffic conditions. The problem of large potential collision risk coefficient at signalized intersections improves the consistency between the decision-making of autonomous driving vehicles and the decision-making of human drivers

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