An auxiliary driving anti-collision control method based on fuzzy control

Abstract

The present disclosure relates to a kind of fuzzy control-based auxiliary driving anti-collision control method, system, device, electronic equipment and storage medium. Among them, the method includes: based on the relative distance of sensor acquisition vehicle from obstacle, relative speed, according to the preset logic to judge vehicle control mode, and based on vehicle automatic emergency brake controller, vehicle rear collision warning controller, vehicle lateral lane changing controller realizes the fuzzy control of vehicle auxiliary driving anti-collision, the present disclosure is by in the control process of vehicle automatic emergency brake control mode or vehicle rear collision warning control mode, reduce the frequent and intense switching of throttle and brake, make acceleration continuous change, make speed change more stable, so as to obtain more stable and comfortable driving experience;Fuzzy control is used in lateral lane changing control mode to realize smooth lane changing around obstacle.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving, and more specifically, to a fuzzy control-based assisted driving collision avoidance control method, system, device, electronic device, and computer-readable storage medium. Background Technology

[0002] Vehicle driver assistance system control algorithms include a series of collision avoidance control algorithms such as Automatic Emergency Braking (AEB), Rear Collision Warning (RCW), and lateral obstacle avoidance algorithms. In complex driving environments, the switching logic between these collision avoidance control modes is crucial to ensuring the safe operation of intelligent driving vehicles. Current technologies for collision avoidance functions like AEB and RCW primarily rely on set thresholds to determine and output fixed throttle opening or braking pressure signals. This results in discontinuous acceleration changes, drastic speed fluctuations, and compromises on vehicle ride comfort.

[0003] Therefore, one or more methods are needed to solve the above problems.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this disclosure is to provide a fuzzy control-based assisted driving collision avoidance control method, device, electronic device, and computer-readable storage medium, thereby overcoming at least to some extent one or more problems caused by the limitations and defects of related technologies.

[0006] According to one aspect of this disclosure, a fuzzy control-based assisted driving collision avoidance control method is provided, comprising:

[0007] The vehicle self-test step checks the vehicle's power-on status. If the vehicle is powered on, the environmental detection step is executed. If the vehicle is not powered on, the control of the vehicle is terminated.

[0008] The environmental detection step involves collecting data from the vehicle's sensors regarding the relative distance between the vehicle and obstacles in front, the relative distance between the vehicle and obstacles behind, and the relative distance between the vehicle and obstacles on the left / right. It also involves collecting data regarding the relative speed between the vehicle and obstacles in front, the relative speed between the vehicle and obstacles behind, the relative speed between the vehicle and obstacles on the left / right, and the vehicle's position and attitude information.

[0009] The collision avoidance control steps involve calculating the forward collision time, rear collision time, and side collision time based on the relative distances of the vehicle to obstacles in front, rear, and left / right, as well as the relative speeds of the vehicle with and from obstacles in front, rear, and left / right. The vehicle control decisions are then made based on these calculations.

[0010] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is less than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step.

[0011] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is greater than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's lateral lane change control mode is activated, and the vehicle's lateral lane change control mode controls the vehicle based on a preset vehicle lateral lane change control algorithm, and then returns to the vehicle self-check step.

[0012] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step.

[0013] If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's rear collision warning mode is activated, and the vehicle's rear collision warning mode controls the vehicle based on a preset vehicle rear collision warning algorithm, and then returns to the vehicle self-check step.

[0014] If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle self-check step is returned.

[0015] In one exemplary embodiment of this disclosure, the anti-collision control step of the method includes:

[0016] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is less than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and enables the vehicle's rear and side vehicle warning functions, and returns to the vehicle self-check step.

[0017] The vehicle rear and side vehicle warning function includes illuminating the rear and side brake lights.

[0018] In one exemplary embodiment of this disclosure, the method comprising controlling the vehicle based on a preset vehicle automatic emergency braking algorithm using the vehicle automatic emergency braking mode includes:

[0019] The vehicle automatic emergency braking controller takes the relative distance between the vehicle and the obstacle in front and the relative speed between the vehicle and the obstacle in front as inputs, and generates a forward control signal based on a preset vehicle automatic emergency braking fuzzy control rule table.

[0020] Based on the aforementioned forward control signal, the vehicle throttle opening and braking pressure signals are generated according to the vehicle inverse dynamics model.

[0021] The vehicle's automatic emergency braking control is completed based on the vehicle's throttle opening and braking pressure signals.

[0022] In one exemplary embodiment of this disclosure, the method comprising controlling the vehicle based on a preset vehicle rear collision warning algorithm in the vehicle rear collision warning mode includes:

[0023] The vehicle rear collision warning controller takes the relative distance between the vehicle and the obstacle behind it and the relative speed between the vehicle and the obstacle behind it as inputs, and generates a forward control signal based on a preset vehicle rear collision warning fuzzy control rule table.

[0024] Based on the aforementioned forward control signal, the vehicle throttle opening and braking pressure signals are generated according to the vehicle inverse dynamics model.

[0025] The vehicle rear collision warning control is completed based on the vehicle throttle opening and braking pressure signals.

[0026] In one exemplary embodiment of this disclosure, the method for controlling the vehicle's lateral lane change control mode based on a preset vehicle lateral lane change control algorithm includes:

[0027] The vehicle lateral lane change controller takes the vehicle position and attitude information, the relative distance between the vehicle and the obstacles on the left / right sides, and the relative speed between the vehicle and the obstacles on the left / right sides as inputs, and generates a lane change and obstacle avoidance path through a local path planning algorithm. The lane change and obstacle avoidance path includes path point coordinates and speed information.

[0028] Based on the vehicle position and attitude information and the lane change and obstacle avoidance path, the lateral deviation, yaw angle deviation and speed deviation of the vehicle relative to the lane change and obstacle avoidance path are generated. The vehicle lateral lane change controller takes the lateral deviation, yaw angle deviation and speed deviation as input and generates the front wheel steering angle control signal, throttle opening control signal and brake pressure control signal based on the preset vehicle lateral lane change fuzzy control rule table.

[0029] The vehicle's lateral lane change control is completed based on the vehicle's front wheel steering angle control signal, throttle opening control signal, and brake pressure control signal.

[0030] In one aspect of this disclosure, a fuzzy control-based assisted driving collision avoidance control system is provided, comprising:

[0031] The sensor is used to collect the relative distance between the vehicle and the obstacle in front, the relative distance between the vehicle and the obstacle behind, the relative distance between the vehicle and the obstacle on the left / right, the relative speed between the vehicle and the obstacle in front, the relative speed between the vehicle and the obstacle behind, the relative speed between the vehicle and the obstacle on the left / right, and the vehicle's position and attitude information.

[0032] The vehicle automatic emergency braking controller is used to generate a forward control signal based on a preset vehicle automatic emergency braking fuzzy control rule table, taking the relative distance between the vehicle and the obstacle in front and the relative speed between the vehicle and the obstacle in front as inputs, and generating vehicle throttle opening and braking pressure signals based on the forward control signal and the vehicle inverse dynamics model, and completing the vehicle automatic emergency braking control based on the vehicle throttle opening and braking pressure signals.

[0033] A vehicle rear collision warning controller is used to generate a forward control signal based on a preset vehicle rear collision warning fuzzy control rule table, taking the relative distance between the vehicle and the rear obstacle and the relative speed between the vehicle and the rear obstacle as inputs, and generating vehicle throttle opening and braking pressure signals based on the forward control signal and the vehicle inverse dynamics model, and completing vehicle rear collision warning control based on the vehicle throttle opening and braking pressure signals.

[0034] The vehicle lateral lane change controller takes the vehicle's position and attitude information, the relative distance between the vehicle and the obstacles on the left / right sides, and the relative speed between the vehicle and the obstacles on the left / right sides as inputs. It generates a lane change and obstacle avoidance path through a local path planning algorithm. The lane change and obstacle avoidance path includes path point coordinates and speed information. Based on the vehicle's position and attitude information and the lane change and obstacle avoidance path, it generates the vehicle's lateral deviation, yaw angle deviation, and speed deviation relative to the lane change and obstacle avoidance path. The vehicle lateral lane change controller takes the lateral deviation, yaw angle deviation, and speed deviation as inputs and generates front wheel steering angle control signals, throttle opening control signals, and brake pressure control signals based on a preset vehicle lateral lane change fuzzy control rule table. Based on the vehicle's front wheel steering angle control signals, throttle opening control signals, and brake pressure control signals, it completes the vehicle's lateral lane change control.

[0035] In one aspect of this disclosure, a fuzzy control-based assisted driving collision avoidance control device is provided, comprising:

[0036] The vehicle self-test module is used to detect the vehicle's power-on status. If the vehicle is powered on, an environmental detection step is performed; if the vehicle is not powered on, control of the vehicle is terminated.

[0037] The environmental detection module is used to collect the relative distance between the vehicle and obstacles in front, the relative distance between the vehicle and obstacles behind, and the relative distance between the vehicle and obstacles on the left / right sides based on the vehicle's sensors; and to collect the relative speed between the vehicle and obstacles in front, the relative speed between the vehicle and obstacles behind, the relative speed between the vehicle and obstacles on the left / right sides, and the vehicle's position and attitude information.

[0038] The collision avoidance control module is used to calculate the forward collision time, rear collision time, and side collision time based on the relative distances of the vehicle to obstacles in front, rear, and left / right, as well as the relative speeds of the vehicle with and from obstacles in front, rear, and left / right. Based on these relative distances, the module makes the following vehicle control decisions:

[0039] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is less than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step.

[0040] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is greater than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's lateral lane change control mode is activated, and the vehicle's lateral lane change control mode controls the vehicle based on a preset vehicle lateral lane change control algorithm, and then returns to the vehicle self-check step.

[0041] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step.

[0042] If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's rear collision warning mode is activated, and the vehicle's rear collision warning mode controls the vehicle based on a preset vehicle rear collision warning algorithm, and then returns to the vehicle self-check step.

[0043] If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle self-check step is returned.

[0044] In one aspect of this disclosure, an electronic device is provided, comprising:

[0045] Processor; and

[0046] A memory storing computer-readable instructions that, when executed by the processor, implement the method according to any one of the preceding claims.

[0047] In one aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the method according to any one of the preceding claims.

[0048] An exemplary embodiment of this disclosure provides a collision avoidance control method for assisted driving based on fuzzy control. The method includes: collecting the relative distance and relative speed between the vehicle and an obstacle using sensors; determining the vehicle control mode according to preset logic; and implementing collision avoidance fuzzy control for assisted driving based on a vehicle automatic emergency braking controller, a vehicle rear collision warning controller, and a vehicle lateral lane change controller. This disclosure reduces frequent and abrupt switching between throttle and brake during the control process of the vehicle automatic emergency braking control mode or the vehicle rear collision warning control mode, resulting in continuous acceleration changes and smoother speed changes, thereby achieving a smoother and more comfortable driving experience. In the lateral lane change control mode, fuzzy control is used to achieve smooth lane changing and obstacle avoidance.

[0049] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0050] The above and other features and advantages of this disclosure will become more apparent from the detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0051] Figure 1 A flowchart of an assisted driving collision avoidance control method based on fuzzy control according to an exemplary embodiment of the present disclosure is shown;

[0052] Figure 2 A control logic diagram of an assisted driving collision avoidance control method based on fuzzy control according to an exemplary embodiment of the present disclosure is shown.

[0053] Figures 3A-3B A controller control logic diagram of an assisted driving collision avoidance control method based on fuzzy control according to an exemplary embodiment of the present disclosure is shown.

[0054] Figure 4 A schematic block diagram of a fuzzy control-based driver assistance collision avoidance control device according to an exemplary embodiment of the present disclosure is shown.

[0055] Figure 5 A block diagram of an electronic device according to an exemplary embodiment of the present disclosure is schematically shown; and

[0056] Figure 6The illustration shows a schematic diagram of a computer-readable storage medium according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0057] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0058] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details described, or other methods, components, materials, apparatuses, steps, etc., can be employed. In other instances, well-known structures, methods, apparatuses, implementations, materials, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0059] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, or in one or more software-hardened modules, or in different network and / or processor devices and / or microcontroller devices.

[0060] In this example embodiment, a collision avoidance control method for assisted driving based on fuzzy control is first provided; see reference. Figure 1 As shown, this fuzzy control-based assisted driving collision avoidance control method may include the following steps:

[0061] Vehicle self-test step S110: Detect the vehicle's power-on status. If the vehicle is powered on, execute the environmental detection step. If the vehicle is not powered on, terminate control of the vehicle.

[0062] In the environmental detection step S120, the relative distance between the vehicle and the obstacle in front, the relative distance between the vehicle and the obstacle behind, and the relative distance between the vehicle and the obstacle on the left / right side are collected based on the vehicle's sensors. The relative speed between the vehicle and the obstacle in front, the relative speed between the vehicle and the obstacle behind, the relative speed between the vehicle and the obstacle on the left / right side, and the vehicle's position and attitude information are also collected.

[0063] In collision avoidance control step S130, based on the relative distances between the vehicle and obstacles in front, rear, and left / right, and the relative speeds between the vehicle and obstacles in front, rear, and left / right, the forward collision time, rear collision time, and side collision time are calculated respectively. Based on these times, the vehicle control is determined as follows:

[0064] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is less than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step.

[0065] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is greater than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's lateral lane change control mode is activated, and the vehicle's lateral lane change control mode controls the vehicle based on a preset vehicle lateral lane change control algorithm, and then returns to the vehicle self-check step.

[0066] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step.

[0067] If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's rear collision warning mode is activated, and the vehicle's rear collision warning mode controls the vehicle based on a preset vehicle rear collision warning algorithm, and then returns to the vehicle self-check step.

[0068] If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle self-check step is returned.

[0069] An exemplary embodiment of this disclosure provides a collision avoidance control method for assisted driving based on fuzzy control. The method includes: collecting the relative distance and relative speed between the vehicle and an obstacle using sensors; determining the vehicle control mode according to preset logic; and implementing collision avoidance fuzzy control for assisted driving based on a vehicle automatic emergency braking controller, a vehicle rear collision warning controller, and a vehicle lateral lane change controller. This disclosure reduces frequent and abrupt switching between throttle and brake during the control process of the vehicle automatic emergency braking control mode or the vehicle rear collision warning control mode, resulting in continuous acceleration changes and smoother speed changes, thereby achieving a smoother and more comfortable driving experience. In the lateral lane change control mode, fuzzy control is used to achieve smooth lane changing and obstacle avoidance.

[0070] The following will further explain a fuzzy control-based collision avoidance control method for assisted driving in this example embodiment.

[0071] Example 1:

[0072] In the vehicle self-test step S110, the vehicle's power-on status can be detected. If the vehicle is powered on, an environmental detection step is performed. If the vehicle is not powered on, control of the vehicle is terminated.

[0073] In the environmental detection step S120, the relative distance between the vehicle and the obstacle in front, the relative distance between the vehicle and the obstacle behind, and the relative distance between the vehicle and the obstacle on the left / right side can be collected based on the vehicle's sensors. The relative speed between the vehicle and the obstacle in front, the relative speed between the vehicle and the obstacle behind, the relative speed between the vehicle and the obstacle on the left / right side, and the vehicle's position and attitude information can also be collected.

[0074] In the collision avoidance control step S130, the relative distance between the vehicle and the obstacle in front, the relative distance between the vehicle and the obstacle behind, the relative distance between the vehicle and the obstacle on the left / right, the relative speed between the vehicle and the obstacle in front, the relative speed between the vehicle and the obstacle behind, and the relative speed between the vehicle and the obstacle on the left / right can be used to calculate the forward collision time, the rear collision time, and the side collision time. Based on the forward collision time, the rear collision time, and the side collision time, the vehicle control judgment is made as follows:

[0075] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is less than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step.

[0076] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is greater than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's lateral lane change control mode is activated, and the vehicle's lateral lane change control mode controls the vehicle based on a preset vehicle lateral lane change control algorithm, and then returns to the vehicle self-check step.

[0077] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step.

[0078] If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's rear collision warning mode is activated, and the vehicle's rear collision warning mode controls the vehicle based on a preset vehicle rear collision warning algorithm, and then returns to the vehicle self-check step.

[0079] If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle self-check step is returned.

[0080] An exemplary embodiment of this disclosure provides a collision avoidance control method for assisted driving based on fuzzy control. The method includes: collecting the relative distance and relative speed between the vehicle and an obstacle using sensors; determining the vehicle control mode according to preset logic; and implementing collision avoidance fuzzy control of the vehicle's assisted driving based on an automatic emergency braking controller, a rear collision warning controller, and a lateral lane change controller. This disclosure reduces frequent and abrupt switching between throttle and brake during the control process of the automatic emergency braking control mode or the rear collision warning control mode, resulting in continuous acceleration changes and smoother speed changes, thus achieving a smoother and more comfortable driving experience. In the lateral lane change control mode, fuzzy control is used to achieve smooth lane changes and obstacle avoidance.

[0081] In this example embodiment, the collision avoidance control step of the method includes:

[0082] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is less than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and enables the vehicle's rear and side vehicle warning functions, and returns to the vehicle self-check step.

[0083] The vehicle rear and side vehicle warning function includes illuminating the rear and side brake lights.

[0084] In this example embodiment, the automatic emergency braking mode of the vehicle, based on a preset automatic emergency braking algorithm, controls the vehicle, including:

[0085] The vehicle automatic emergency braking controller takes the relative distance between the vehicle and the obstacle in front and the relative speed between the vehicle and the obstacle in front as inputs, and generates a forward control signal based on a preset vehicle automatic emergency braking fuzzy control rule table.

[0086] Based on the aforementioned forward control signal, the vehicle throttle opening and braking pressure signals are generated according to the vehicle inverse dynamics model.

[0087] The vehicle's automatic emergency braking control is completed based on the vehicle's throttle opening and braking pressure signals.

[0088] In this example embodiment, the vehicle rear collision warning mode in the method controls the vehicle based on a preset vehicle rear collision warning algorithm, including:

[0089] The vehicle rear collision warning controller takes the relative distance between the vehicle and the obstacle behind it and the relative speed between the vehicle and the obstacle behind it as inputs, and generates a forward control signal based on a preset vehicle rear collision warning fuzzy control rule table.

[0090] Based on the aforementioned forward control signal, the vehicle throttle opening and braking pressure signals are generated according to the vehicle inverse dynamics model.

[0091] The vehicle rear collision warning control is completed based on the vehicle throttle opening and braking pressure signals.

[0092] In this example embodiment, the vehicle lateral lane change control mode in the method controls the vehicle based on a preset vehicle lateral lane change control algorithm, including:

[0093] The vehicle lateral lane change controller takes the vehicle position and attitude information, the relative distance between the vehicle and the obstacles on the left / right sides, and the relative speed between the vehicle and the obstacles on the left / right sides as inputs, and generates a lane change and obstacle avoidance path through a local path planning algorithm. The lane change and obstacle avoidance path includes path point coordinates and speed information.

[0094] Based on the vehicle position and attitude information and the lane change and obstacle avoidance path, the lateral deviation, yaw angle deviation and speed deviation of the vehicle relative to the lane change and obstacle avoidance path are generated. The vehicle lateral lane change controller takes the lateral deviation, yaw angle deviation and speed deviation as input and generates the front wheel steering angle control signal, throttle opening control signal and brake pressure control signal based on the preset vehicle lateral lane change fuzzy control rule table.

[0095] The vehicle's lateral lane change control is completed based on the vehicle's front wheel steering angle control signal, throttle opening control signal, and brake pressure control signal.

[0096] Example 2:

[0097] In this example embodiment, the fuzzy control-based collision avoidance control method reduces frequent and abrupt switching between throttle and brake during AEB or RCW mode control, resulting in continuous acceleration changes and smoother speed changes, thus achieving a smoother and more comfortable driving experience. In the lateral lane change control mode, fuzzy control is used to achieve smooth lane changes and obstacle avoidance. Its basic operating steps are as follows:

[0098] Step 1: Determine if the vehicle's power-on self-test has been completed;

[0099] Step 2: Sensors mounted on the vehicle body detect the relative positions of obstacles in front of, behind, and to the left and right sides of the vehicle (S f S r and S l ) and relative velocity (v) f v r and v l )information;

[0100] Step 3: Calculate the collision time (t) by dividing the relative distance by the relative velocity. f t r and t l );

[0101] Step 4: Determine the forward collision time t in the actual scene. f The AEB mode judgment threshold T preset in the control system AEB The size between;

[0102] Step 5: Determine the rear collision time t in the actual scenario. r The threshold T for judging the RCW mode is preset within the control system. RCW The size between;

[0103] Step 6: Determine the lateral collision time t in the actual scenario. l The threshold T for judging the lateral lane change control mode preset in the control system. lateral The size between;

[0104] Step 7: The vehicle enters AEB mode and activates rear and side vehicle warnings;

[0105] Step 8: The vehicle enters the lateral lane change control mode;

[0106] Step 9: The vehicle enters AEB mode;

[0107] Step 10: The vehicle enters RCW mode;

[0108] Step 11: The collision avoidance control system does not activate;

[0109] Step 12: Determine if the vehicle is powered off;

[0110] In the embodiments of this example, as Figure 2 As shown, according to the mode switching control logic, the workflow of the control system is as follows:

[0111] First, execute step 1 to determine whether the vehicle power-on self-test is complete. If it is complete, proceed to step 2 to collect vehicle and obstacle information; otherwise, repeat step 1 to determine whether the vehicle power-on self-test is complete.

[0112] After the program enters step 2, it continues from step 2 to step 4. When the result of step 4 is t... f <T AEB If there is a collision risk ahead of the vehicle, proceed to step 5; when the result of step 5 is t r <T RCW If there is a collision risk behind the vehicle, proceed to step 6. When the result of step 6 is t l <Tlateral If there is an obstacle in the side lane and lane changing is not possible, proceed to step 7. The vehicle enters AEB mode and activates rear and side vehicle warnings, illuminates the brake lights and takes other warning measures to alert rear and side vehicles to slow down and avoid the obstacle. Then proceed to step 12 to determine if the vehicle is powered down. If not, the program returns to step 2 to continue detecting the relative position and relative speed information between the vehicle and the obstacle at the next moment. If the vehicle is powered down, the program ends.

[0113] If the result of step 4 is t f <T AEB If there is a collision risk ahead of the vehicle, proceed to step 5; when the result of step 5 is t r <T RCW If there is a collision risk behind the vehicle, proceed to step 6. When the result of step 6 is t l >T lateral If there is no collision risk in the lateral lane, proceed to step 8, where the vehicle enters the lateral lane change control mode. Then proceed to step 12 to determine if the vehicle is powered off. If not, the program returns to step 2 to continue detecting the relative position and relative speed information of the vehicle and the obstacle at the next moment. If the vehicle is powered off, the program ends.

[0114] If the result of step 4 is t f <T AEB If there is a collision risk ahead of the vehicle, proceed to step 5; when the result of step 5 is t r >T RCW If there is no risk of collision behind the vehicle, proceed to step 9, the vehicle enters AEB mode, and then proceed to step 12 to determine if the vehicle is powered off. If not, the program returns to step 2 to continue detecting the relative position and relative speed information between the vehicle and the obstacle at the next moment; if the vehicle is powered off, the program ends.

[0115] If the result of step 4 is t f >T AEB If there is no risk of collision in front of the vehicle, proceed to step 5; if the result of step 5 is t r <T RCW If there is a risk of collision behind the vehicle, proceed to step 10, the vehicle enters RCW mode, and then proceed to step 12 to determine if the vehicle is powered off. If not, the program returns to step 2 to continue detecting the relative position and relative speed information between the vehicle and the obstacle at the next moment; if the vehicle is powered off, the program ends.

[0116] If the result of step 4 is t f >T AEB If there is no risk of collision in front of the vehicle, proceed to step 5; if the result of step 5 is t r >T RCWIf there is no risk of collision behind the vehicle, proceed to step 11. The vehicle collision avoidance control system does not activate. Then proceed to step 12 to determine if the vehicle is powered off. If not, the program returns to step 2 to continue detecting the relative position and relative speed information between the vehicle and the obstacle at the next moment. If the vehicle is powered off, the program ends.

[0117] In the embodiments of this example, as Figure 3A As shown, the fuzzy control-based collision avoidance system control method is as follows in AEB and RCW modes:

[0118] The AEB (Autonomous Emergency Braking) mode uses fuzzy control to regulate the vehicle's throttle and brakes. The principle is as follows: the relative distance and speed of the vehicle, collected by sensors, are input into the AEB fuzzy controller. Based on a preset AEB fuzzy control rule table, the controller outputs acceleration control signals corresponding to the input relative distance and speed. These acceleration control signals are then processed by the vehicle inverse dynamics model controller to output throttle opening or brake pressure signals, controlling the vehicle's longitudinal speed. Similarly, the RCW (Reverse Dynamics and Braking) mode also uses fuzzy control to regulate the vehicle's throttle and brakes. The principle is the same: the relative distance and speed of the vehicle, collected by sensors, are input into the RCW fuzzy controller. Based on a preset RCW fuzzy control rule table, the controller outputs acceleration control signals corresponding to the input relative distance and speed. These acceleration control signals are then processed by the vehicle inverse dynamics model controller to output throttle opening or brake pressure signals, controlling the vehicle's longitudinal speed. Fuzzy control allows for continuous and smooth changes in the vehicle's longitudinal speed, reducing abrupt and frequent switching between throttle and brakes during each mode control process, resulting in a smoother and more comfortable driving experience.

[0119] In the embodiments of this example, as Figure 3B As shown, the control method for the lateral lane change control mode is as follows:

[0120] In the lateral lane change control mode, a local path planning algorithm is employed to plan a reasonable obstacle avoidance and lane change path. A fuzzy controller is used to control the vehicle to follow the planned path, ensuring that the vehicle can effectively change lanes and avoid obstacles. Based on the vehicle's position and speed information and obstacle information collected by sensors, the local path planning algorithm determines the lane change and obstacle avoidance path, outputting the coordinates and speed information of the planned path points. Simultaneously, based on the vehicle's position and speed information collected by sensors, the lateral deviation, yaw angle deviation, and vehicle speed deviation information are calculated and input to the fuzzy controller. The fuzzy controller calculates and outputs front wheel steering angle and throttle opening / brake pressure control signals based on the planned path and the vehicle's state to control the vehicle and achieve lane change and obstacle avoidance.

[0121] It should be noted that although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0122] Furthermore, in this example embodiment, a fuzzy control-based assisted driving collision avoidance control system is also provided, the system comprising:

[0123] The sensor is used to collect the relative distance between the vehicle and the obstacle in front, the relative distance between the vehicle and the obstacle behind, the relative distance between the vehicle and the obstacle on the left / right, the relative speed between the vehicle and the obstacle in front, the relative speed between the vehicle and the obstacle behind, the relative speed between the vehicle and the obstacle on the left / right, and the vehicle's position and attitude information.

[0124] The vehicle automatic emergency braking controller is used to generate a forward control signal based on a preset vehicle automatic emergency braking fuzzy control rule table, taking the relative distance between the vehicle and the obstacle in front and the relative speed between the vehicle and the obstacle in front as inputs, and generating vehicle throttle opening and braking pressure signals based on the forward control signal and the vehicle inverse dynamics model, and completing the vehicle automatic emergency braking control based on the vehicle throttle opening and braking pressure signals.

[0125] A vehicle rear collision warning controller is used to generate a forward control signal based on a preset vehicle rear collision warning fuzzy control rule table, taking the relative distance between the vehicle and the rear obstacle and the relative speed between the vehicle and the rear obstacle as inputs, and generating vehicle throttle opening and braking pressure signals based on the forward control signal and the vehicle inverse dynamics model, and completing vehicle rear collision warning control based on the vehicle throttle opening and braking pressure signals.

[0126] The vehicle lateral lane change controller takes the vehicle's position and attitude information, the relative distance between the vehicle and the obstacles on the left / right sides, and the relative speed between the vehicle and the obstacles on the left / right sides as inputs. It generates a lane change and obstacle avoidance path through a local path planning algorithm. The lane change and obstacle avoidance path includes path point coordinates and speed information. Based on the vehicle's position and attitude information and the lane change and obstacle avoidance path, it generates the vehicle's lateral deviation, yaw angle deviation, and speed deviation relative to the lane change and obstacle avoidance path. The vehicle lateral lane change controller takes the lateral deviation, yaw angle deviation, and speed deviation as inputs and generates front wheel steering angle control signals, throttle opening control signals, and brake pressure control signals based on a preset vehicle lateral lane change fuzzy control rule table. Based on the vehicle's front wheel steering angle control signals, throttle opening control signals, and brake pressure control signals, it completes the vehicle's lateral lane change control.

[0127] In this example embodiment, the system is used in a vehicle-assisted driving system. The collision avoidance system integrates a series of functions such as AEB, RCW, and lateral lane change / obstacle avoidance. Through a certain mode switching logic, it controls the intelligent driving vehicle to automatically implement collision avoidance functions, making control simple. This system can integrate the collision avoidance system's AEB, RCW, and lateral obstacle avoidance algorithms and has reasonable mode switching logic. It can automatically determine the collision avoidance system mode in assisted driving scenarios, ensuring the driving safety of the assisted driving vehicle.

[0128] Furthermore, in this example embodiment, a fuzzy control-based assisted driving collision avoidance control device is also provided. (Refer to...) Figure 4 As shown, the fuzzy control-based assisted driving collision avoidance control device 400 may include: a vehicle self-test module 410, an environmental detection module 420, and a collision avoidance control module 430. Wherein:

[0129] The vehicle self-test module 410 is used to detect the vehicle's power-on status. If the vehicle is powered on, an environmental detection step is performed; if the vehicle is not powered on, control of the vehicle is terminated.

[0130] The environmental detection module 420 is used to collect the relative distance between the vehicle and the obstacle in front, the relative distance between the vehicle and the obstacle behind, and the relative distance between the vehicle and the obstacle on the left / right side based on the vehicle's sensors, and to collect the relative speed between the vehicle and the obstacle in front, the relative speed between the vehicle and the obstacle behind, the relative speed between the vehicle and the obstacle on the left / right side, and the vehicle's position and attitude information.

[0131] The collision avoidance control module 430 is used to calculate the forward collision time, rear collision time, and side collision time of the vehicle based on the relative distance between the vehicle and obstacles in front, the relative distance between the vehicle and obstacles behind, the relative distance between the vehicle and obstacles on the left / right, the relative speed between the vehicle and obstacles in front, the relative speed between the vehicle and obstacles behind, and the relative speed between the vehicle and obstacles on the left / right, respectively. Based on these forward collision times, rear collision times, and side collision times, the module makes the following vehicle control judgments:

[0132] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is less than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step.

[0133] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is greater than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's lateral lane change control mode is activated, and the vehicle's lateral lane change control mode controls the vehicle based on a preset vehicle lateral lane change control algorithm, and then returns to the vehicle self-check step.

[0134] If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step.

[0135] If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's rear collision warning mode is activated, and the vehicle's rear collision warning mode controls the vehicle based on a preset vehicle rear collision warning algorithm, and then returns to the vehicle self-check step.

[0136] If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle self-check step is returned.

[0137] The specific details of each of the above-mentioned fuzzy control-based driver assistance collision avoidance control device modules have been described in detail in the corresponding fuzzy control-based driver assistance collision avoidance control method, so they will not be repeated here.

[0138] It should be noted that although several modules or units of a fuzzy control-based assisted driving collision avoidance control device 400 have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0139] Furthermore, in an exemplary embodiment of this disclosure, an electronic device capable of implementing the above-described method is also provided.

[0140] Those skilled in the art will understand that various aspects of the present invention can be implemented as systems, methods, or program products. Therefore, various aspects of the present invention can be specifically implemented as entirely hardware embodiments, entirely software embodiments (including firmware, microcode, etc.), or embodiments combining hardware and software aspects, collectively referred to herein as “circuit,” “module,” or “system.”

[0141] The following reference Figure 5 To describe an electronic device 500 according to such an embodiment of the present invention. Figure 5 The electronic device 500 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0142] like Figure 5 As shown, the electronic device 500 is manifested in the form of a general-purpose computing device. The components of the electronic device 500 may include, but are not limited to: at least one processing unit 510, at least one storage unit 520, a bus 530 connecting different system components (including storage unit 520 and processing unit 510), and a display unit 540.

[0143] The storage unit stores program code that can be executed by the processing unit 510, causing the processing unit 510 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of the present invention. For example, the processing unit 510 can perform actions such as... Figure 1 Steps S110 to S130 are shown in the diagram.

[0144] Storage unit 520 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 5201 and / or cache memory 5202, and may further include a read-only memory (ROM) 5203.

[0145] Storage unit 520 may also include a program / utility 5204 having a set (at least one) program module 5203, such program module 5205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0146] Bus 550 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0147] Electronic device 500 can also communicate with one or more external devices 570 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 500, and / or with any device that enables electronic device 500 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 550. Furthermore, electronic device 500 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 560. As shown, network adapter 560 communicates with other modules of electronic device 500 via bus 550. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0148] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0149] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the invention may also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the invention described in the "Exemplary Methods" section above.

[0150] refer to Figure 6 As shown, a program product 600 for implementing the above-described method according to an embodiment of the present invention is described. It may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0151] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0152] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0153] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0154] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0155] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0156] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0157] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A collision avoidance control method for assisted driving based on fuzzy control, characterized in that, The method includes: The vehicle self-test step checks the vehicle's power-on status. If the vehicle is powered on, the environmental detection step is executed. If the vehicle is not powered on, the control of the vehicle is terminated. The environmental detection step involves collecting data from the vehicle's sensors regarding the relative distance between the vehicle and obstacles in front, the relative distance between the vehicle and obstacles behind, and the relative distance between the vehicle and obstacles on the left and right. It also involves collecting data regarding the relative speed between the vehicle and obstacles in front, the relative speed between the vehicle and obstacles behind, the relative speed between the vehicle and obstacles on the left and right, and the vehicle's position and attitude information. The collision avoidance control steps involve calculating the forward collision time, rear collision time, and side collision time based on the relative distances of the vehicle to obstacles in front, rear, and left and right, as well as the relative speeds of the vehicle with and from obstacles in front, rear, and left and right. The vehicle control decisions are then made based on these calculations. If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is less than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step. If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is greater than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's lateral lane change control mode is activated, and the vehicle's lateral lane change control mode controls the vehicle based on a preset vehicle lateral lane change control algorithm, and then returns to the vehicle self-check step. If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step. If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's rear collision warning mode is activated, and the vehicle's rear collision warning mode controls the vehicle based on a preset vehicle rear collision warning algorithm, and then returns to the vehicle self-check step. If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle self-check step is returned.

2. The method as described in claim 1, characterized in that, In the collision avoidance control steps of the method: If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is less than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and the vehicle's rear and side vehicle warning functions are activated, and the vehicle returns to the self-check step. The vehicle rear and side vehicle warning function includes illuminating the rear and side brake lights.

3. The method as described in claim 1, characterized in that, The automatic emergency braking mode of the vehicle in the method controls the vehicle based on a preset automatic emergency braking algorithm, including: The vehicle automatic emergency braking controller takes the relative distance between the vehicle and the obstacle in front and the relative speed between the vehicle and the obstacle in front as inputs, and generates a forward control signal based on a preset vehicle automatic emergency braking fuzzy control rule table. Based on the aforementioned forward control signal, the vehicle throttle opening and braking pressure signals are calculated and generated according to the vehicle inverse dynamics model. The vehicle's automatic emergency braking control is completed based on the vehicle's throttle opening and braking pressure signals.

4. The method as described in claim 1, characterized in that, The vehicle rear collision warning mode in the method controls the vehicle based on a preset vehicle rear collision warning algorithm, including: The vehicle rear collision warning controller takes the relative distance between the vehicle and the obstacle behind it and the relative speed between the vehicle and the obstacle behind it as inputs, and generates a forward control signal based on a preset vehicle rear collision warning fuzzy control rule table. Based on the aforementioned forward control signal, the vehicle throttle opening and braking pressure signals are generated according to the vehicle inverse dynamics model. The vehicle rear collision warning control is completed based on the vehicle throttle opening and braking pressure signals.

5. The method as described in claim 1, characterized in that, The vehicle lateral lane change control mode in the method controls the vehicle based on a preset vehicle lateral lane change control algorithm, including: The vehicle lateral lane change controller takes the vehicle position and attitude information, the relative distance between the vehicle and the obstacles on the left and right, and the relative speed between the vehicle and the obstacles on the left and right as inputs, and generates a lane change and obstacle avoidance path through a local path planning algorithm. The lane change and obstacle avoidance path includes path point coordinates and speed information. Based on the vehicle position and attitude information and the lane change and obstacle avoidance path, the lateral deviation, yaw angle deviation and speed deviation of the vehicle relative to the lane change and obstacle avoidance path are generated. The vehicle lateral lane change controller takes the lateral deviation, yaw angle deviation and speed deviation as input and generates the front wheel steering angle control signal, throttle opening control signal and brake pressure control signal based on the preset vehicle lateral lane change fuzzy control rule table. The vehicle's lateral lane change control is completed based on the front wheel steering angle control signal, throttle opening control signal, and brake pressure control signal.

6. A collision avoidance control system for assisted driving based on fuzzy control, characterized in that, The system includes: The sensor is used to collect the relative distance between the vehicle and the obstacle in front, the relative distance between the vehicle and the obstacle behind, the relative distance between the vehicle and the obstacles on the left and right, the relative speed between the vehicle and the obstacle in front, the relative speed between the vehicle and the obstacle behind, the relative speed between the vehicle and the obstacles on the left and right, and the vehicle's position and attitude information. The vehicle automatic emergency braking controller is used to generate a forward control signal based on a preset vehicle automatic emergency braking fuzzy control rule table, taking the relative distance between the vehicle and the obstacle in front and the relative speed between the vehicle and the obstacle in front as inputs, and generating vehicle throttle opening and braking pressure signals based on the forward control signal and the vehicle inverse dynamics model, and completing the vehicle automatic emergency braking control based on the vehicle throttle opening and braking pressure signals. A vehicle rear collision warning controller is used to generate a forward control signal based on a preset vehicle rear collision warning fuzzy control rule table, taking the relative distance between the vehicle and the rear obstacle and the relative speed between the vehicle and the rear obstacle as inputs, and generating vehicle throttle opening and braking pressure signals based on the forward control signal and the vehicle inverse dynamics model, and completing vehicle rear collision warning control based on the vehicle throttle opening and braking pressure signals. The vehicle lateral lane change controller takes the vehicle's position and attitude information, the relative distance between the vehicle and obstacles on the left and right, and the relative speed between the vehicle and obstacles on the left and right as inputs. It generates a lane change and obstacle avoidance path through a local path planning algorithm. The lane change and obstacle avoidance path includes path point coordinates and speed information. Based on the vehicle's position and attitude information and the lane change and obstacle avoidance path, it generates the vehicle's lateral deviation, yaw angle deviation, and speed deviation relative to the lane change and obstacle avoidance path. The vehicle lateral lane change controller takes the lateral deviation, yaw angle deviation, and speed deviation as inputs and generates front wheel steering angle control signals, throttle opening control signals, and brake pressure control signals based on a preset vehicle lateral lane change fuzzy control rule table. Based on the front wheel steering angle control signals, throttle opening control signals, and brake pressure control signals, it completes the vehicle's lateral lane change control.

7. A collision avoidance control device for assisted driving based on fuzzy control, characterized in that, The device includes: The vehicle self-test module is used to detect the vehicle's power-on status. If the vehicle is powered on, an environmental detection step is performed; if the vehicle is not powered on, control of the vehicle is terminated. The environmental detection module is used to collect the relative distance between the vehicle and obstacles in front, the relative distance between the vehicle and obstacles behind, and the relative distance between the vehicle and obstacles on the left and right sides based on the vehicle's sensors; and to collect the relative speed between the vehicle and obstacles in front, the relative speed between the vehicle and obstacles behind, the relative speed between the vehicle and obstacles on the left and right sides, and the vehicle's position and attitude information. The collision avoidance control module is used to calculate the forward collision time, rear collision time, and side collision time based on the relative distances of the vehicle to obstacles in front, rear, and left and right, as well as the relative speeds of the vehicle with and from obstacles in front, rear, and left and right. Based on these relative distances, the module makes the following vehicle control decisions: If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is less than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step. If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's side collision time is compared with the vehicle's lateral lane change control mode judgment threshold. If the vehicle's side collision time is greater than the vehicle's lateral lane change control mode judgment threshold, then the vehicle's lateral lane change control mode is activated, and the vehicle's lateral lane change control mode controls the vehicle based on a preset vehicle lateral lane change control algorithm, and then returns to the vehicle self-check step. If the forward collision time is less than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle's automatic emergency braking mode is activated, and the vehicle's automatic emergency braking mode controls the vehicle based on a preset vehicle automatic emergency braking algorithm, and then returns to the vehicle self-check step. If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is less than the vehicle's rear collision warning mode judgment threshold, then the vehicle's rear collision warning mode is activated, and the vehicle's rear collision warning mode controls the vehicle based on a preset vehicle rear collision warning algorithm, and then returns to the vehicle self-check step. If the forward collision time is greater than the vehicle's automatic emergency braking mode judgment threshold, then the vehicle's rear collision time is compared with the vehicle's rear collision warning mode judgment threshold. If the vehicle's rear collision time is greater than the vehicle's rear collision warning mode judgment threshold, then the vehicle self-check step is returned.

8. An electronic device, characterized in that, include Processor; and A memory storing computer-readable instructions that, when executed by the processor, implement the method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, the computer program implementing the method according to any one of claims 1 to 5 when executed by a processor.

Images