Vehicle and vehicle pre-collision detection method and device

Abstract

The invention provides a vehicle and a vehicle pre-collision detection method and device, and belongs to the field of automatic driving vehicles. Taking the coordinates of the path points on the planned path as the coordinates of the head center point of the vehicle in sequence; solving a vehicle body yaw angle corresponding to the current path point by combining the coordinates of the current path point and the coordinates of the vehicle rear axle center point corresponding to the previous path point, and solving the coordinates of the rear axle center point corresponding to the current path point by combining the coordinates of the current path point and the corresponding vehicle body yaw angle; obtaining a vehicle driving area corresponding to the current path point by combining the vehicle length, the vehicle width, the coordinates of the current path point and the corresponding vehicle body yaw angle, and circularly solving to obtain a vehicle driving area corresponding to each path point; and pre-collision detection is realized in combination with the vehicle driving area and the obstacle coordinates. The method is more suitable for the situation that the vehicle head center point of the vehicle serves as the path tracking point and the vehicle body size is large, the calculated vehicle body yaw angle and the vehicle driving area are more accurate, and the pre-collision detection precision can be improved.

Description

technical field [0001] The invention relates to a vehicle, a vehicle pre-collision detection method and a device, and belongs to the technical field of automatic driving vehicles. Background technique [0002] In the current collision detection method, the acquisition of the rectangular range of the vehicle is obtained by relying on the parameters of the vehicle body and the slope at the path tracking point as the yaw angle of the vehicle body, that is, the position and angle of the vehicle can be consistent with the information on the path point. Points are used as tracking points and when the body size is small, it can achieve better prediction of the vehicle driving area, so as to realize the collision prediction of surrounding obstacles. However, when the vehicle takes the center point of the front of the vehicle as the path tracking point and the vehicle body size is large, the slope at the path tracking point is quite different from the actual yaw angle of the vehicle ...

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to provide a vehicle and a vehicle pre-collision detection method and device, which are used to solve the problem of vehicle body obtained by using the existing vehicle body yaw angle calculation method when the vehicle uses the center point of the front of the vehicle as the path tracking point and the vehicle body size is large. The yaw angle deviates greatly from the actual situation, which leads to inaccurate pre-collision predictions

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