Active obstacle avoidance control method based on rectangular clustering collision cone model

Abstract

The invention belongs to the technical field of automobile safety, and discloses an active obstacle avoidance control method based on a rectangular clustering collision cone model. The method comprises the steps that whether collision can be avoided through automatic braking in a lane or not is judged, and if that collision can be avoided through automatic braking and meanwhile a rear vehicle andan own vehicle have no rear-end collision risk is judged, automatic braking is adopted; if that collision cannot be avoided through automatic braking is judged, rectangular clustering is conducted onthe own vehicle and a front obstacle vehicle, the minimum steering angle during automatic steering collision avoidance is calculated by means of the collision cone principle; and if that the own vehicle and a target vehicle on an adjacent lane have no collision risk under the input of the steering angle and meanwhile the own vehicle can keep steering stability is met, automatic steering collisionavoidance is conducted. According to the active obstacle avoidance control method based on the rectangular clustering collision cone model, the minimum steering angle during automatic steering is calculated by means of the collision cone principle, the problem caused by steering amplitude misoperation of a driver under the emergency condition is solved, and the purpose of reducing more serious accidents caused by side collision of the own vehicle and the front vehicle or vehicle instability is achieved.

Description

Technical field [0001] The invention belongs to the technical field of automobile safety, and in particular relates to an active obstacle avoidance control method with an automatic emergency steering function based on a rectangular cluster collision cone model. Background technique [0002] At present, when a vehicle encounters emergencies during driving, such as the sudden deceleration of the vehicle in front or the sudden appearance of an obstacle in front that need to avoid obstacles, it often happens. Therefore, the collision avoidance function is very important for the safety of the vehicle. There are two main types of car collision avoidance systems currently on the market: The first type is longitudinal collision avoidance systems, including forward collision warning (FCW) and automatic emergency braking systems (AEB), which use ring-sensing sensors such as forward-looking radar or cameras Detecting the information of obstacles in front can remind the driver to slow down o...

AI Technical Summary

Problems solved by technology

[0004] (1) In the existing longitudinal collision avoidance system, if the vehicle behind the vehicle is closely following the vehicle, there is no rear-view sensor to detect the information behind the vehicle, enabling automatic braking to avoid obstacles may cause rear-end collisions between the vehicle behind and the vehicle, or even Serial collision accident

[0005] (2) In the existing automatic steering obstacle avoidance system, the heading angle when turning to sideslip in special working conditions is used as the

Images