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Unmanned driving emergency obstacle avoidance path tracking method

A path tracking and obstacle avoidance technology, applied in the direction of external condition input parameters, control devices, vehicle components, etc., can solve the problems of large vehicle lateral acceleration, vehicle rollover accidents, etc., to reduce the steering wheel angle, easy rollover, lift The effect of mobility

Active Publication Date: 2022-04-29
VOYAH AUTOMOBILE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current emergency avoidance measures mainly adopt emergency braking (AEB) / emergency steering (AES) / brake steering, etc., but most unmanned vehicles use front wheel steering for control, and the vehicle lateral acceleration during emergency steering Larger, easy to cause vehicle rollover accidents

Method used

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  • Unmanned driving emergency obstacle avoidance path tracking method
  • Unmanned driving emergency obstacle avoidance path tracking method
  • Unmanned driving emergency obstacle avoidance path tracking method

Examples

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Embodiment 1

[0019] A kind of path tracking method for unmanned emergency obstacle avoidance, see figure 1 , the emergency obstacle avoidance path tracking method mainly includes the following steps:

[0020] S1. Acquiring driving state information, location information, and surrounding environment information of the own vehicle, where the surrounding environment information of the own vehicle includes at least information on obstacles ahead of the own vehicle.

[0021] It can be understood that during the driving process, the vehicle can use the on-board sensors to perceive the driving state information, location information and surrounding environment information of the vehicle, wherein the surrounding environment information of the vehicle mainly includes the obstacle information in front of the vehicle, including the obstacle in front of the vehicle. Object coordinates, size, and distance information, and screen the perceived obstacles to ensure that they are indeed obstacles. Subseque...

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Abstract

The invention provides an unmanned driving emergency obstacle avoidance path tracking method. The method comprises the following steps: acquiring driving state information and position information of a vehicle and surrounding environment information of the vehicle; determining an obstacle avoidance strategy according to the road curvature, the collision time of the vehicle and the front vehicle, and the obstacle avoidance area and the constraint condition of the adjacent lane; when the obstacle avoidance strategy is an emergency steering mode, an optimal obstacle avoidance path is planned according to the vehicle driving state information, the position information and the vehicle surrounding environment information; predicting wheel rotation angles and wheel rotation speeds of front wheels and rear wheels corresponding to vehicle positions at different moments on the optimal obstacle avoidance path; and controlling the vehicle to track the optimal obstacle avoidance path to run according to the calculated wheel rotation angle and wheel rotation speed of each wheel of the vehicle. Under the high-speed limit working condition, various obstacle avoidance strategies are combined, active four-wheel steering path tracking is adopted, and the operation stability and safety at the high speed can be improved.

Description

technical field [0001] The invention relates to the field of vehicle control, and more specifically, to a method for tracking an unmanned emergency obstacle avoidance path. Background technique [0002] The quality of vehicle path tracking under extreme conditions directly determines the safety and stability of unmanned vehicle operation, and emergency avoidance scenarios for extreme conditions are an important manifestation of improving the active safety of unmanned vehicles. The current emergency avoidance measures mainly adopt emergency braking (AEB) / emergency steering (AES) / brake steering, etc., but most unmanned vehicles use front wheel steering for control, and the vehicle lateral acceleration during emergency steering Larger, easy to cause vehicle rollover accidents. Contents of the invention [0003] In the prior art, the dynamic control of the lateral and longitudinal states of the two vehicles can only be achieved by turning the front wheels, but the vehicle can...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/09B60W30/095B60W60/00B60W10/20B60W10/184
CPCB60W30/09B60W30/0953B60W30/0956B60W60/0016B60W10/20B60W10/184B60W2554/4041B60W2554/404B60W2554/802Y02T10/40
Inventor 任聪沈忱付斌钟小凡
Owner VOYAH AUTOMOBILE TECH CO LTD
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