CN106379316B - A kind of vehicle active collision avoidance mode switching method - Google Patents

A kind of vehicle active collision avoidance mode switching method Download PDF

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Publication number
CN106379316B
CN106379316B CN201610805517.7A CN201610805517A CN106379316B CN 106379316 B CN106379316 B CN 106379316B CN 201610805517 A CN201610805517 A CN 201610805517A CN 106379316 B CN106379316 B CN 106379316B
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vehicle
collision avoidance
distance
target carriage
active
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CN201610805517.7A
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Chinese (zh)
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CN106379316A (en
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袁朝春
王潍
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江苏大学
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09Taking automatic action to avoid collision, e.g. braking and steering
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • B60W30/0953Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • B60W30/0956Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • B60W2520/105Longitudinal acceleration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • B60W2554/801Lateral distance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • B60W2554/804Relative longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/18Braking system
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00Output or target parameters relating to a particular sub-units
    • B60W2710/20Steering systems

Abstract

The invention discloses a kind of vehicle active collision avoidance mode switching methods, belong to traffic safety technical field.Include the following steps:Step 1:Obtain vehicle driving information;Step 2:By analyzing vehicle driving information, establishes longitudinal direction of car collision avoidance safe distance and calculate, obtain intelligent collision warning distance DwAnd forced brake distance Db;Step 3:By whether being carried out intelligent collision warning or active collision avoidance from vehicle and target carriage relative distance and the comparison of intelligent collision warning distance and forced brake distance;Step 4:When needing to carry out active collision avoidance, carries out active collision avoidance pattern switching and judge;Step 5:The action that step 4 to be carried out is controlled by an electronic control unit and completes collision avoidance, and feeds back car status information and gives running information acquisition control unit.The present invention can realize that vehicle evades hazardous collision operating mode in time in the process of moving, significantly improve the safety coefficient of driving;The transverse safety distance model and collision avoidance mode switching method of it is proposed can accurately realize the active collision avoidance of automobile.

Description

A kind of vehicle active collision avoidance mode switching method
Technical field
The present invention relates to a kind of vehicle active collision avoidance system mode switching methods, belong to driving safety technical field.
Background technology
As the motor-driven trip requirements of the masses are continuously improved, automobile market potentiality sustained release, car ownership keeps quick Growth trend, in by the end of June, 2016 by, national vehicle guaranteeding organic quantity is up to 2.85 hundred million, wherein 1.84 hundred million, automobile;Motor vehicle is driven People is sailed up to 3.42 hundred million people, wherein 2.96 hundred million people of motorist, is thus proposed to road traffic pressure and traffic safety Huge challenge develops the active demand that advanced active safety systems of vehicles is Modern road traffic.Vehicle active safety system Important link in system is the research and development of the Active collision avoidance system of vehicle.Vehicle active collision avoidance system includes mainly longitudinal main Dynamic anti-collision system and lateral Active collision avoidance system.Longitudinal active collision avoidance control is mainly by cutting air throttle and brake actuator It changes and coordinates to realize to it is expected that the accurate of acceleration follows.But due to the complexity of the variability of external environment and vehicle structure Property, cause longitudinal Active collision avoidance system brake safe distance to be more than practical two vehicle distances to generate the insufficient danger of braking distance Danger, at this time just need with turn to actuator in order to control object lateral Active collision avoidance system come execute collision avoidance action.
Invention content
Present disclosure is to solve the above-mentioned problems, in active collision avoidance longitudinal direction safe distance and transverse safety distance mould A kind of vehicle active collision avoidance system mode switching method is proposed on the basis of type, and automobile can be made timely to evade when driving Hazardous collision operating mode, the hour of danger that vehicle active collision avoidance system pattern switching can be hit before vehicle generation send out alarm signal Breath, and realize emergency braking longitudinal direction collision avoidance under emergency situation or realize steering lane-change transverse direction collision avoidance, so as to effectively Improve the driving safety of automobile.Specific technical solution is as follows:
A kind of vehicle active collision avoidance mode switching method, includes the following steps:
Step 1:Obtain vehicle driving information;
Step 2:By analyzing vehicle driving information, establishes longitudinal direction of car collision avoidance safe distance and calculate, it is pre- to obtain collision avoidance Alert distance DwAnd forced brake distance Db
Step 3:By from vehicle and target carriage relative distance and the comparison of intelligent collision warning distance and forced brake distance To whether carrying out intelligent collision warning or active collision avoidance;
Step 4:When needing to carry out active collision avoidance, carries out active collision avoidance pattern switching and judge;
Step 5:The action that step 4 to be carried out is controlled by an electronic control unit and completes collision avoidance, then executes step repeatedly Rapid 1- steps 5.
Further, the specific implementation of the step 1 includes:Vehicle front and both sides information are obtained using trailer-mounted radar;Profit The travel speed V of target carriage is obtained with vehicle-mounted sensor-based systemf, relative distance D between vehicle and front truckrelative, from vehicle speed vx、 From vehicle acceleration ar-max, and acquisition track vehicle position information.
Further, the computational methods of intelligent collision warning distance and forced brake distance include in the step 2:
In formula:Dw:Intelligent collision warning distance;Db:Forced brake distance;d0:After indicating that relative velocity is eliminated, from vehicle and target Workshop is still to the distance kept;Tr-d:Time of driver's reaction, driver has found front vehicles and takes braking maneuver, is stepped on to foot The time of upper brake pedal;Tr-b:Vehicle brake system response and braking time;TbrIndicate the brake system response time;vx:From vehicle Speed, Vf:Target carriage speed, ar-max:From vehicle acceleration, af:Target carriage acceleration.
Further, the specific implementation of the step 3 includes:
The relative distance D of measurementrelative≥Dw, system is without control action;The relative distance D of measurementw≥Drelative≥Db When, intelligent collision warning is carried out to driver, driver's brakeless acts after early warning;The relative distance D of measurementrelative≤DbWhen, then System carries out active collision avoidance.
Further, the specific implementation of the step 4 includes following situation:
1. operating mode 1:There is target carriage from vehicle track and adjacent track, and the target carriage in adjacent track is in the position from vehicle later; Longitudinal active collision avoidance pattern, control motor vehicle braking system is taken to carry out emergency braking under this operating mode;
2. operating mode 2:Have a target carriage from vehicle track and adjacent track, and the target carriage in adjacent track be in from vehicle with from vehicle track The centre position of target carriage takes under this operating mode longitudinal active collision avoidance pattern, control motor vehicle braking system to carry out emergency braking;
3. operating mode 3:There is target carriage from vehicle track and adjacent track, and the target carriage in adjacent track is leaned on from the target carriage in track Preceding position carries out the judgement of longitudinal active collision avoidance and lateral active collision avoidance pattern switching under this operating mode, specifically:
Establish transverse safety distance model:
In formula:
DAB:Transverse safety distance, for from vehicle with from a distance from the target carriage of track;
ye:Lane width, d indicate the lane-change duration from vehicle-width, t;
Collision avoidance pattern switching Rule of judgment, which is arranged, is:WhenWhen, vehicle is indulged To active collision avoidance, whenVehicle carries out lateral active collision avoidance, and control wheel steering system executes collision avoidance action;
4. operating mode 4:There are target carriage, adjacent track there is no target carriage from vehicle track, using the method for operating mode 3, carry out pattern is cut It changes, then carries out the active collision avoidance of vehicle.
Further, d0It is 2-5 meters to choose numerical value;Tr-d:It is 0.3-1 seconds to choose numerical value;Tr-bIt is 0.3 second to choose numerical value;Tbr It is 0.3 second to choose numerical value.
Beneficial effects of the present invention include:
(1) present invention proposes a kind of mode switching method of vehicle active collision avoidance, and vehicle can be realized in driving process In timely evade hazardous collision operating mode, significantly improve the safety coefficient of driving;
(2) present invention establishes vehicle active collision avoidance longitudinal direction and transverse safety distance model, can accurately and effectively sentence The driving operating mode of disconnected vehicle realizes and evades road traffic dangerous working condition guarantee traffic safety in advance.
Description of the drawings
Fig. 1 is flow chart of the method for the present invention;
Fig. 2 is present invention driving operating mode 1;
Fig. 3 is present invention driving operating mode 2;
Fig. 4 is present invention driving operating mode 3;
Fig. 5 is present invention driving operating mode 4;
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples.
The present invention provides a kind of vehicle active collision avoidance system mode switching method, as shown in Figure 1, including following step Suddenly:
Step 1:Obtain vehicle driving information.
Vehicle mounted imaging apparatus may be mounted in vehicle front bumper, for the situation of vehicle front to be transmitted electron control Unit ECU processed;Trailer-mounted radar is set as five, wherein in the both sides and centre position of front of the car bumper bar, in addition 3 split Two centre positions being individually positioned between the front door of both sides and back door are used for vehicle both sides and road ahead information status (vehicle is at a distance from barrier) is transferred to electronic control unit ECU, and vehicle-mounted sensor-based system obtains the travel speed V of target carriagef、 And the relative distance D in front and back workshoprelative, from vehicle speed vx, from vehicle acceleration ar-max, and acquisition track vehicle location Information.
Step 2:By analyzing vehicle driving information, establishes longitudinal direction of car collision avoidance safe distance and calculate, it is pre- to obtain collision avoidance Alert distance and forced brake distance.
In formula:
Dw:Intelligent collision warning distance, if i.e. two vehicles distance with Dw、DbBetween should alarm.
Db:Forced brake distance, if i.e. two vehicles distance is less than DbIt should brake, be urgent collision avoidance boundary value.
d0:It after indicating that relative velocity is eliminated, is still at a distance from holding from vehicle and target workshop, general numerical value of choosing is 2-5 Rice.
Tr-d:Time of driver's reaction, driver has found front vehicles and takes braking maneuver, and brake pedal is stepped on to foot Time, general numerical value of choosing is 0.3-1 seconds.
Tr-b:Vehicle brake system response and braking time, general numerical value of choosing is 0.3 second.
TbrIndicate the brake system response time, it is general to choose 0.3 second.
vx:From vehicle speed, Vf:Target carriage speed, ar-max:From vehicle acceleration, af:Target carriage acceleration.
Step 3:By from vehicle and target carriage relative distance and the comparison of intelligent collision warning distance and forced brake distance To whether carrying out intelligent collision warning.
The relative distance D of measurementrelative≥Dw, system is without control action;The relative distance D of measurementw≥Drelative≥Db When, intelligent collision warning is carried out to driver, driver's brakeless acts after early warning;The relative distance D of measurementrelative≤DbWhen, then System carries out active collision avoidance.
Step 4:When needing to carry out active collision avoidance, carries out active collision avoidance pattern switching and judge.Including following several situations:
1. operating mode 1 as shown in Figure 2 has target carriage from vehicle track and adjacent track, and target carriage 2 is in the position from vehicle later It sets, the danger that may be collided as carried out lateral active collision avoidance at this time, so longitudinal active collision avoidance pattern is taken under operating mode, It controls motor vehicle braking system and carries out emergency braking.
2. operating mode 2 as shown in Figure 3 has target carriage from vehicle track and adjacent track, and target carriage 2 is in from vehicle and target carriage 1 centre position, collision avoidance pattern is similar with operating mode 1, the danger that may be collided as carried out lateral active collision avoidance at this time, therefore Longitudinal active collision avoidance pattern, control motor vehicle braking system is taken to carry out emergency braking under this operating mode.
3. operating mode 3 as shown in Figure 4 has target carriage from vehicle track and adjacent track, and target carriage 2 leans on anteposition in target carriage 1 It sets, carries out the judgement of longitudinal active collision avoidance and lateral active collision avoidance pattern switching at this time, formula (3) is established according to Fig. 5 and is laterally pacified Full distance model:
In formula:
DAB:Transverse safety distance is the B point distances from vehicle A points and target carriage 1.
ye:Lane width, d is from vehicle-width.T indicates the lane-change duration.
Collision avoidance pattern switching Rule of judgment by formula (2) and formula (3) is:
WhenWhen, vehicle carries out longitudinal active collision avoidance, whenVehicle carries out laterally actively Collision avoidance, control wheel steering system execute collision avoidance action.
4. operating mode 4 as shown in Figure 5 has target carriage, adjacent track not to have target carriage then from vehicle track, collision avoidance operating mode and operating mode 3 It is similar.According to the Rule of judgment of active collision avoidance pattern switching, pattern switching is carried out, then carry out the active collision avoidance of vehicle.
Step 5:The action that step 4 to be carried out is controlled by an electronic control unit and completes collision avoidance, then executes step repeatedly Rapid 1- steps 5.
By taking operating mode in Fig. 43 as an example:
1. obtaining vehicle driving information first.
2. by analyze vehicle driving information, establish longitudinal direction of car collision avoidance safe distance and calculate, obtain intelligent collision warning away from From and forced brake with a distance from.
3. by being from vehicle and target carriage relative distance and the comparison of intelligent collision warning distance and forced brake distance No carry out intelligent collision warning.The relative distance D of measurementw≥Drelative≥DbWhen, intelligent collision warning is carried out to driver;It is driven after early warning Member's brakeless action, the relative distance D of measurementrelative≤DbWhen, then system carries out active collision avoidance.
4. carrying out active collision avoidance pattern switching according to order obtained by step 3 to judge, at this timeVehicle carries out Lateral active collision avoidance, control wheel steering system execute collision avoidance action.
5. feeding back to electronic control unit ECU according to the action that step 4 is carried out, is controlled by ECU and complete collision avoidance.
The control method can make automobile timely evade hazardous collision operating mode, vehicle active collision avoidance system when driving The hour of danger alert that system can be hit before vehicle generation, and emergency braking longitudinal direction collision avoidance is realized under emergency situation Or realize and turn to lane-change transverse direction collision avoidance, so as to effectively improve the driving safety of automobile.
The explanation that above are only technical solution of the present invention and specific embodiment, the protection model being not intended to limit the present invention It encloses, under the premise of without prejudice to substantive content of the present invention and principle, changes, retouches etc. all within protection domain.

Claims (3)

1. a kind of vehicle active collision avoidance mode switching method, which is characterized in that include the following steps:
Step 1:Obtain vehicle driving information;
Step 2:By analyze vehicle driving information, establish longitudinal direction of car collision avoidance safe distance and calculate, obtain intelligent collision warning away from From DwAnd forced brake distance Db
Step 3:By being from vehicle and target carriage relative distance and the comparison of intelligent collision warning distance and forced brake distance No progress intelligent collision warning or active collision avoidance;
Step 4:When needing to carry out active collision avoidance, carries out active collision avoidance pattern switching and judge;
Step 5:The action that step 4 to be carried out is controlled by an electronic control unit and completes collision avoidance, then executes step 1- repeatedly Step 5;
The specific implementation of the step 1 includes:Vehicle front and both sides information are obtained using trailer-mounted radar;It is using vehicle-mounted sensing System obtains the travel speed V of target carriagef, relative distance D between vehicle and front truckrelative, from vehicle speed vx, from vehicle acceleration ar-max, and acquisition track vehicle position information;
The computational methods of intelligent collision warning distance and forced brake distance include in the step 2:
In formula:Dw:Intelligent collision warning distance;Db:Forced brake distance;d0:After indicating that relative velocity is eliminated, from vehicle and target workshop It is still to the distance kept;Tr-d:Time of driver's reaction, driver has found front vehicles and takes braking maneuver, and system is stepped on to foot The time of dynamic pedal;Tr-b:Vehicle brake system response and braking time;TbrIndicate the brake system response time;vx:From vehicle speed, Vf:Target carriage speed, ar-max:From vehicle acceleration, af:Target carriage acceleration;
The specific implementation of the step 4 includes following situation:
1. operating mode 1:There is target carriage from vehicle track and adjacent track, and the target carriage in adjacent track is in the position from vehicle later;This work Longitudinal active collision avoidance pattern, control motor vehicle braking system is taken to carry out emergency braking under condition;
2. operating mode 2:Have a target carriage from vehicle track and adjacent track, and the target carriage in adjacent track be in from vehicle with from vehicle track target The centre position of vehicle takes under this operating mode longitudinal active collision avoidance pattern, control motor vehicle braking system to carry out emergency braking;
3. operating mode 3:There is target carriage from vehicle track and adjacent track, and the target carriage in adjacent track is forward in the target carriage from track Position carries out the judgement of longitudinal active collision avoidance and lateral active collision avoidance pattern switching under this operating mode, specifically:
Establish transverse safety distance model:
In formula:
DAB:Transverse safety distance, for from vehicle with from a distance from the target carriage of track;
ye:Lane width, d indicate the lane-change duration from vehicle-width, t;
Collision avoidance pattern switching Rule of judgment, which is arranged, is:WhenWhen, vehicle carries out longitudinal main Dynamic collision avoidance, whenVehicle carries out lateral active collision avoidance, and control wheel steering system executes collision avoidance action;
4. operating mode 4:There are target carriage, adjacent track there is no target carriage from vehicle track, using the method for operating mode 3, carries out pattern switching, then Carry out the active collision avoidance of vehicle.
2. a kind of vehicle active collision avoidance mode switching method according to claim 1, which is characterized in that the step 3 Specific implementation includes:
The relative distance D of measurementrelative≥Dw, system is without control action;The relative distance D of measurementw≥Drelative≥DbWhen, it is right Driver carries out intelligent collision warning, and driver's brakeless acts after early warning;The relative distance D of measurementrelative≤DbWhen, then system into Row active collision avoidance.
3. a kind of vehicle active collision avoidance mode switching method according to claim 1, which is characterized in that d0Choosing numerical value is 2-5 meters;Tr-d:It is 0.3-1 seconds to choose numerical value;Tr-bIt is 0.3 second to choose numerical value;TbrIt is 0.3 second to choose numerical value.
CN201610805517.7A 2016-09-06 2016-09-06 A kind of vehicle active collision avoidance mode switching method CN106379316B (en)

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CN107161143A (en) * 2017-05-18 2017-09-15 江苏大学 A kind of vehicle active collision avoidance method of use Artificial Potential Field Method
CN107316500B (en) * 2017-06-06 2020-11-20 驭势(上海)汽车科技有限公司 Threat degree calculation method in automatic driving, target selection method and application
CN107264527B (en) * 2017-06-08 2020-06-02 广州汽车集团股份有限公司 Control method and device for preventing intelligent vehicle from being parked
CN107738644B (en) * 2017-09-30 2019-06-21 长安大学 A kind of vehicle control of collision avoidance method
CN112026758A (en) * 2017-09-30 2020-12-04 上海蔚来汽车有限公司 Front collision avoidance method and system for vehicle
CN107914686B (en) * 2017-11-17 2019-06-25 吉林大学 A kind of emergency braking apparatus for vehicle and method
CN109835330A (en) * 2017-11-27 2019-06-04 大陆泰密克汽车系统(上海)有限公司 The method of vehicle active collision avoidance and the vehicle for using this method
CN108932870A (en) * 2018-07-16 2018-12-04 安徽江淮汽车集团股份有限公司 A kind of vehicle early warning method and device
CN109767651A (en) * 2019-02-12 2019-05-17 桂林电子科技大学 A kind of typical curved areas seamless communication method under V2X environment
CN110481544B (en) * 2019-07-30 2020-11-20 江苏大学 Automobile collision avoidance method and collision avoidance system for pedestrians
CN110588645B (en) * 2019-09-02 2020-12-29 武汉格罗夫氢能汽车有限公司 Automatic emergency lane changing method and control system for avoiding collision of hydrogen energy automobile
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CN111231957A (en) * 2020-02-25 2020-06-05 奇瑞汽车股份有限公司 Vehicle control method, device, equipment and storage medium

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