Unmanned racing car braking and steering cooperative collision avoidance control method and system
A technology for collaborative collision avoidance and unmanned driving, applied in the direction of control devices, etc., can solve problems such as inability to drive safely and stably, and achieve the effect of ensuring stability
Active Publication Date: 2021-08-17
HEFEI UNIV OF TECH
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Problems solved by technology
[0003] Based on this, it is necessary to provide an unmanned racing car braking and steering coordination for the technical problems that the existing driverless formula car cannot drive safely and stably and avoid collisions when the front car suddenly decelerates or the side car inserts forward. Collision avoidance control method and unmanned racing car brake and steering cooperative collision avoidance control system adopting the control method
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[0108] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0109] It should be noted that when a component is said to be "mounted on" another component, it can be directly on the other component or there can also be an intervening component. When a component is said to be "set on" another component, it may be set directly on the other component or there may be an intervening component at the same time. When a component is said to be "fixed" to another component, it may be directly fixed to the other component or there...
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The invention relates to an unmanned racing car braking and steering cooperative collision avoidance control method and system. The method comprises the steps of planning a steering collision avoidance path; designing the longitudinal safety distance of the vehicle during steering collision avoidance; collecting the transverse acceleration and the longitudinal acceleration of the vehicle during steering collision avoidance, and designing the optimal longitudinal acceleration of the vehicle in the collision avoidance process and the maximum transverse acceleration of the vehicle in the collision avoidance process through the particle swarm optimization in combination with the longitudinal safety distance; and when the vehicle is controlled to steer and avoid collision, enabling the executed longitudinal acceleration to be the optimal longitudinal acceleration and the transverse acceleration to be not greater than the maximum transverse acceleration. According to the invention, safe collision avoidance in emergency can be realized, and meanwhile, the stability in the collision avoidance process is ensured.
Description
technical field [0001] The invention belongs to the field of unmanned driving, and in particular relates to a braking and steering cooperative collision avoidance control method for an unmanned racing car and a braking and steering cooperative collision avoidance control system for an unmanned racing car using the control method. Background technique [0002] When an unmanned formula car is racing, there may be an unexpected situation ahead that requires emergency collision avoidance. At present, the car has been designed with an active emergency braking system (Autonomous Emergency Braking, AEB). Although the AEB system can brake in a certain However, when a car on the side inserts forward or the car in front suddenly decelerates, the distance between the two cars will suddenly decrease, which makes the car decelerate and brake even with the maximum braking deceleration However, collisions cannot be avoided. Some racing cars have adopted the method of steering collision av...
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IPC IPC(8): B60W60/00B60W30/09B60W30/095B60W50/00
CPCB60W60/0015B60W30/09B60W30/0953B60W50/00B60W2050/0019B60W2520/105B60W2520/125
Inventor 汪洪波高含冯立钊
Owner HEFEI UNIV OF TECH