CN107226089A - A kind of pilotless automobile collision avoidance strategy - Google Patents

A kind of pilotless automobile collision avoidance strategy Download PDF

Info

Publication number
CN107226089A
CN107226089A CN201710243742.0A CN201710243742A CN107226089A CN 107226089 A CN107226089 A CN 107226089A CN 201710243742 A CN201710243742 A CN 201710243742A CN 107226089 A CN107226089 A CN 107226089A
Authority
CN
China
Prior art keywords
car
collision avoidance
front truck
vehicle
ecu
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710243742.0A
Other languages
Chinese (zh)
Other versions
CN107226089B (en
Inventor
严明月
魏民祥
汪*
汪
池东亮
张凤娇
张佳佳
项楚勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Aeronautics and Astronautics
Original Assignee
Nanjing University of Aeronautics and Astronautics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University of Aeronautics and Astronautics filed Critical Nanjing University of Aeronautics and Astronautics
Priority to CN201710243742.0A priority Critical patent/CN107226089B/en
Publication of CN107226089A publication Critical patent/CN107226089A/en
Application granted granted Critical
Publication of CN107226089B publication Critical patent/CN107226089B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W30/00—Purposes 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

Abstract

The invention discloses a kind of pilotless automobile collision avoidance strategy, related sensor is gathered from car and exterior vehicle, road information on automobile, communicate information to ECU, ECU parses the signal of each sensor, calculate braking and turn to safe distance, determine the affiliated state of emergency of vehicle, quickly plan suitable collision avoidance mode, including braking collision avoidance, turn to collision avoidance, skid steer Discrete control collision avoidance, control the early warning system of automobile to perform corresponding collision avoidance by buzzer warning mode early warning exterior vehicle, brakes, steering and instruct, and monitor and calculate TTC in real time‑1With the numerical value of yaw velocity, under conditions of intact stability is ensured, effectively prevent vehicle from crashing, improve the travel safety of pilotless automobile.

Description

A kind of pilotless automobile collision avoidance strategy
Technical field
It is especially a kind of pilotless automobile collision avoidance strategy the present invention relates to a kind of collision avoidance strategy, belongs to automobile actively Security fields.
Background technology
With computer technology, the development of environment perception technology, increasing automatic control technology is used in automobile On, pilotless automobile also becomes a great change of automobile industry.In the research process of unmanned technology, it is to avoid nobody Drive vehicle to collide with front truck, rear car or guardrail in emergency situations, for improving automatic driving vehicle security tool It is significant.
Collision avoidance mode includes longitudinal direction braking collision avoidance and laterally turns to collision avoidance.Longitudinal direction braking collision avoidance meeting under some pavement conditions The problem of there is uneven vehicle both sides brake force and elongated braking distance；The safe distance for turning to collision avoidance is shorter, but promptly The danger such as oblique impact, rollover are there is during steering；There is certain limitation under some operating modes in single collision avoidance mode.
The content of the invention
Goal of the invention：The technical problems to be solved by the invention are to overcome the defect of existing collision avoidance strategy, and there is provided one kind The automotive correlation prevention strategy under urgent road conditions.
Technical scheme：A kind of pilotless automobile collision avoidance strategy, comprises the following steps：
Step 1: related sensor is gathered from car and external environment condition relevant information on automobile, including pass through millimetre-wave radar Gather from the longitudinal spacing of car and front truck apart from S1, from car with the longitudinal spacing of interference car apart from S2, interference car speed U2, pass through Hall-type vehicle speed sensor is gathered from car speed U1, yaw-rate sensor detect from information such as car yaw velocities, And transmit each signal into ECU；
Step 2: ECU parses the signal of each sensor, calculate from car and front truck brake safe apart from Br1, target track is done Disturb the brake safe distance of car and turn to safe distance, ECU is according to vehicle actual environment information and brakes and turn to safe distance Calculated, determine emergency work condition residing for Current vehicle, the emergency work condition according to residing for vehicle, decision-making collision avoidance strategy,
(1) if S1≥Br1, it is more than or equal to brake safe distance from the actual range of car and front truck, has braking collision avoidance from car Condition, therefore selection braking mode；
(2) if St1≤S1＜ Br1, S2≥St2, U1≤U2, it is more than or equal to from the actual range of car and front truck and turns to safety Distance, but less than or equal to brake safe distance, can avoid crashing with front truck by way of lane-change from car, when certainly The actual range of car and interference car is more than when turning to safe distance and is less than the speed of interference car from car speed, from after car lane-change not Can be collided danger with interference car, therefore selection steering pattern；
(3) if St1≤S1＜ Br1, S2≥St2, U1＞ U2, avoid colliding with front truck from car, collision avoidance can be turned to, but It is now to be more than the speed that car is disturbed in adjacent lane-change track from car speed, needs deceleration to enter adjacent lane, therefore selection from car Skid steer Discrete control pattern；
(4) if St1≤S1＜ Br1, S2＜ St2, it can avoid colliding with front truck by turning to from car, but it is actual from car Distance is less than the lane-change safe distance from car and interference car, now selects steering pattern to start early warning system simultaneously, is turning from car Note emergency to early warning front truck while collision avoidance and interference car, now flashed from car early-warning lamp, and voice broadcast, pass through The mode for cooperating to be combined with Che Che from car collision avoidance reduces accident；
(5) if S1＜ St1, from car it is difficult to avoid occurring rear-end impact with front truck, now select braking mode to start simultaneously pre- Alert system, accident is reduced also by the mode for cooperating to be combined with Che Che from car collision avoidance；
Step 3: ECU controls brake actuator by fuzzy method and turns to the corresponding collision avoidance behaviour of actuator progress Make；
Step 4: ECU when monitoring vehicle collision in real time away from TTC-1Whether it is safety value with yaw velocity value, if from car In precarious position, it is delayed 2 seconds, TTC is monitored again-1With yaw velocity value, if being still within precarious position from car, ECU is appropriate Reduce controlled quentity controlled variable or regulation Discrete control duration, definition braking duration is total duration with duration sum is turned to, and braking duration is accounted for The ratio of total duration is represented with K, if yaw velocity is larger, increases K values, if TTC-1It is appropriate to reduce control when value is more than threshold value Value.
Further, described in step 4 during vehicle collision away from TTC-1Threshold value is 0.8.
Beneficial effect：Instant invention overcomes the limitation of single braking collision avoidance and single steering collision avoidance, using braking, turn To, braking and three kinds of switch modes of Discrete control are turned to, preferably meet different collision avoidance requirement in emergency circumstances；Ensureing car Under conditions of stability, effectively prevent vehicle from crashing, improve the travel safety of pilotless automobile.
Brief description of the drawings
Fig. 1 is road vehicle hum pattern；
Fig. 2 is pilotless automobile collision avoidance policy map.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
A kind of pilotless automobile collision avoidance strategy of the present invention, detailed process is as follows：
Step 1, as shown in figure 1, millimeter radar surveying is from car F and front vehicles D on automobile1Apart from S1, from car with it is adjacent Track interference car D2Apart from S2, from the relative speed of car and interference car, wheel speed sensors measurement is from the speed U of car1, by certainly Car speed and obtain disturbing car speed U with the relative speed of interference car from car2.Yaw-rate sensor detection yaw velocity letter Number, these signals are transferred in Freescale series MC9S12DP512 single-chip microcomputers by serial communication.
Step 2, as shown in Fig. 2 ECU ECU (MC9S12DP512) parses the signal of each sensor, calculate from car with Front truck, from car and target track interference car brake safe apart from Br1Safe distance S is turned to from car and front truckt1, from car with it is dry Disturb car and turn to safe distance St2。
(1) if S1≥Br1, it is more than or equal to brake safe distance from the actual range of car and front truck, has braking collision avoidance from car Condition, therefore selection braking mode.
(2) if St1≤S1＜ Br1, S2≥St2, U1≤U2, it is more than or equal to from the actual range of car and front truck from car with before Car turns to safe distance St1, but less than brake safe apart from Br1, can not be prevented effectively from and be knocked into the back with front truck by braking from car Etc. collision accident, but it can avoid from car crashing with front truck by way of lane-change.But needed when turning to lane-change collision avoidance Consider that the information of car is disturbed in adjacent lane-change track.Pacify when being more than to turn to interference car from car from the actual range of car and interference car Full distance St2When and be less than from car speed the speed of interference car, will not be collided danger with interference car from after car lane-change, therefore Select steering pattern.
(3) if St1≤S1＜ Br1, S2≥St2, U1＞ U2, avoid colliding with front truck from car, collision avoidance can be turned to, but It is now to be more than the speed that car is disturbed in adjacent lane-change track from car speed, entering low speed carriage way from car needs to slow down, otherwise from car Lane-change enters after adjacent lane easily occurs rear-end collision with interference car.Deceleration is needed to enter adjacent lane, therefore selection from car Skid steer Discrete control pattern.
(4) if St1≤S1＜ Br1, S2＜ St2, it can avoid colliding with front truck by turning to from car, but it is actual from car Distance is less than the lane-change safe distance from car and interference car, from car it is difficult to avoid occurring the accidents such as oblique impact, side impact with interference car.For The probability that reduction accident occurs as far as possible, now selects steering pattern to start early warning system simultaneously.The same of collision avoidance is being turned to from car When early warning front truck and interference car note emergency, now flashed from car early-warning lamp, and voice broadcast：" note spacing, prevent Collision！", allow interference car to accelerate to increase the fore-and-aft distance from car and interference car by warning, reduce accident.
(5) if S1＜ St1, from car it is difficult to avoid occurring rear-end impact with front truck, now select braking mode to start simultaneously pre- Alert system, accident is reduced also by the mode for cooperating to be combined with Che Che from car collision avoidance.
Step 3, as shown in Fig. 2 ECU pass through relevant control algorithm (such as PID, Model Predictive Control) pid algorithm control Brake actuating motor and turn to actuating motor and carry out corresponding collision avoidance operation.The input parameter of PID Brake control algorithms is from car The difference of actual longitudinal acceleration and preferable longitudinal acceleration, emulation regulation PID Proportional coefficient KPValue, integral coefficient KIValue and Differential coefficient KDValue makes the value for approaching preferable longitudinal acceleration of PID output valve quick and stables.The input of PID shift control algorithms Parameter is the difference from car actual steering wheel corner and preferable steering wheel angle, emulation regulation PID Proportional coefficient KPValue, product Divide COEFFICIENT KIValue and differential coefficient KDValue makes the value for approaching preferable steering wheel angle of PID output valve quick and stables.
Step 4, as shown in Fig. 2 set Safety Evaluation Index in this collision avoidance strategy, monitoring is from car safe condition, this hair It is bright to introduce TTC according to actual needs-1With yaw velocity as evaluation index, the security of automobile is evaluated.
Away from being defined as during vehicle collision：
Wherein, S is from car and the actual spacing of front truck, vrelFor from car and front truck relative velocity.
From definition, when vehicle reaches safe condition, two car relative velocities tend to 0, TTC-1Now level off to zero.When When vehicle is safer, TTC-1Value is smaller；When vehicle collision danger classes is higher, TTC-1Value it is bigger.
ECU monitors TTC in real time-1With yaw velocity value, if in the hole from car, it be delayed 2 seconds, TTC is monitored again-1With yaw velocity value, the purpose of delay is to prevent TTC-1Erroneous judgement is caused with the shake of yaw velocity value instantaneous numerical value.If from Car is still within precarious position, and ECU suitably reduces controlled quentity controlled variable or regulation Discrete control duration.When definition braking duration and steering Long sum is total duration, and the ratio that braking duration accounts for total duration is represented with K, if yaw velocity is larger, increases K values, if TTC-1 Value is larger (being more than 0.8), appropriate to reduce control value.
The application approach of the present invention is a lot, and described above is only the preferred embodiment of the present invention, it is noted that for this For the those of ordinary skill of technical field, under the premise without departing from the principles of the invention, some improvement can also be made, these Improvement also should be regarded as protection scope of the present invention.

Claims (2)

1. a kind of pilotless automobile collision avoidance strategy, it is characterised in that comprise the following steps：
Step 1: related sensor collection is gathered from car and external environment condition relevant information, including by millimetre-wave radar on automobile From the longitudinal spacing of car and front truck apart from S1, from car with the longitudinal spacing of interference car apart from S2, interference car speed U2, pass through Hall Formula vehicle speed sensor is gathered from car speed U1, yaw-rate sensor detect from information such as car yaw velocities, and will Each signal is transmitted into ECU；
Step 2: ECU parses the signal of each sensor, calculate from car and front truck brake safe apart from Br1, target track interference car Brake safe distance and turn to safe distance, ECU according to vehicle actual environment information and brake and turn to safe distance carry out Calculate, determine emergency work condition residing for Current vehicle, the emergency work condition according to residing for vehicle, decision-making collision avoidance strategy, (1) is if S1≥ Br1, it is more than or equal to brake safe distance from the actual range of car and front truck, the condition for having braking collision avoidance from car, therefore selection system Dynamic model formula；
(2) if St1≤S1＜ Br1, S2≥St2, U1≤U2, it is more than or equal to from the actual range of car and front truck and turns to safe distance, But less than or equal to brake safe distance, can avoid crashing with front truck by way of lane-change from car, when from car with Disturb the actual range of car to be more than when turning to safe distance and be less than the speed of interference car from car speed, will not be with from after car lane-change Interference car collides danger, therefore selection steering pattern；
(3) if St1≤S1＜ Br1, S2≥St2, U1＞ U2, avoid colliding with front truck from car, collision avoidance can be turned to, but now It is more than the speed that car is disturbed in adjacent lane-change track from car speed, needs deceleration to enter adjacent lane from car, therefore selection braking turns To Discrete control pattern；
(4) if St1≤S1＜ Br1, S2＜ St2, it can avoid colliding with front truck by turning to from car, but from car actual range Less than the lane-change safe distance from car and interference car, now select steering pattern to start early warning system simultaneously, kept away from car in steering Early warning front truck and interference car note emergency while hitting, and are now flashed from car early-warning lamp, and voice broadcast, by from car The mode that collision avoidance cooperates to be combined with Che Che reduces accident；
(5) if S1＜ St1, from car it is difficult to avoid occurring rear-end impact with front truck, now select braking mode to start early warning system simultaneously System, accident is reduced also by the mode for cooperating to be combined with Che Che from car collision avoidance；
Step 3: ECU controls brake actuator by fuzzy method and turns to the corresponding collision avoidance operation of actuator progress；
Step 4: ECU when monitoring vehicle collision in real time away from TTC-1Whether it is safety value with yaw velocity value, if being in danger from car Dangerous state, is delayed 2 seconds, TTC is monitored again-1With yaw velocity value, if being still within precarious position from car, ECU suitably reduces Controlled quentity controlled variable or regulation Discrete control duration, definition braking duration and steering duration sum are total duration, when braking duration accounts for total Long ratio is represented with K, if yaw velocity is larger, increases K values, if TTC-1It is appropriate to reduce control value when value is more than threshold value.
2. a kind of pilotless automobile collision avoidance strategy as claimed in claim 1, it is characterised in that vehicle is touched described in step 4 Away from TTC when hitting-1Threshold value is 0.8.
CN201710243742.0A 2017-04-14 2017-04-14 A kind of pilotless automobile collision avoidance method Expired - Fee Related CN107226089B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710243742.0A CN107226089B (en) 2017-04-14 2017-04-14 A kind of pilotless automobile collision avoidance method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710243742.0A CN107226089B (en) 2017-04-14 2017-04-14 A kind of pilotless automobile collision avoidance method

Publications (2)

Publication Number Publication Date
CN107226089A true CN107226089A (en) 2017-10-03
CN107226089B CN107226089B (en) 2019-06-04

Family

ID=59934124

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710243742.0A Expired - Fee Related CN107226089B (en) 2017-04-14 2017-04-14 A kind of pilotless automobile collision avoidance method

Country Status (1)

Country Link
CN (1) CN107226089B (en)

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108490941A (en) * 2018-03-29 2018-09-04 奇瑞汽车股份有限公司 Applied to the automated driving system and its control method of road sweeper, device
CN108791284A (en) * 2018-05-16 2018-11-13 杨德兴 A kind of driving assistance system of electric vehicle
CN108791283A (en) * 2018-05-16 2018-11-13 杨德兴 A kind of driving pilot controller for driverless electric automobile
CN108859998A (en) * 2018-06-14 2018-11-23 辽宁工业大学 A kind of front truck rear-end device and its control method
CN109094562A (en) * 2018-08-24 2018-12-28 洛阳中科晶上智能装备科技有限公司 A kind of driverless tractor work compound pitch control unit and control method
CN109159733A (en) * 2018-09-10 2019-01-08 百度在线网络技术（北京）有限公司 Unmanned vehicle crossing current method, apparatus, equipment and storage medium
CN109188438A (en) * 2018-09-12 2019-01-11 百度在线网络技术（北京）有限公司 Yaw angle determines method, apparatus, equipment and medium
CN109334659A (en) * 2018-09-27 2019-02-15 北京海纳川汽车部件股份有限公司 Control method, device and the vehicle with it of vehicle
CN109334564A (en) * 2018-09-11 2019-02-15 南京航空航天大学 A kind of automobile active safety early warning system of anticollision
CN109991976A (en) * 2019-03-01 2019-07-09 江苏理工学院 A method of the unmanned vehicle based on standard particle group's algorithm evades dynamic vehicle
CN110040115A (en) * 2018-01-17 2019-07-23 现代摩比斯株式会社 Emergency braking control method for vehicle
CN110481544A (en) * 2019-07-30 2019-11-22 江苏大学 A kind of automotive correlation prevention method and anti-collision system for pedestrian
CN110550045A (en) * 2019-09-09 2019-12-10 奇瑞汽车股份有限公司 Speed planning and tracking method, device and storage medium
CN110606082A (en) * 2019-09-25 2019-12-24 中国第一汽车股份有限公司 Braking system, method and device based on automatic driving and vehicle
CN110654378A (en) * 2018-06-29 2020-01-07 比亚迪股份有限公司 Vehicle control method, device and system and vehicle
CN110723142A (en) * 2019-09-20 2020-01-24 江苏大学 Intelligent automobile emergency collision avoidance control method
CN110362077B (en) * 2019-07-03 2020-09-04 上海交通大学 Unmanned vehicle emergency hedge decision making system, method and medium
CN112026759A (en) * 2020-09-12 2020-12-04 哈尔滨理工大学 Electric intelligent automobile collision avoidance device with multi-mode switching and method
CN112550282A (en) * 2019-09-09 2021-03-26 大陆泰密克汽车系统（上海）有限公司 Warning method and warning system for motor vehicle
CN112660119A (en) * 2021-01-14 2021-04-16 浙江吉利控股集团有限公司 Vehicle rear collision early warning method
CN114407880A (en) * 2022-02-18 2022-04-29 岚图汽车科技有限公司 Unmanned emergency obstacle avoidance path tracking method
CN114913709A (en) * 2021-02-07 2022-08-16 广州汽车集团股份有限公司 Intersection collision early warning method and device based on vehicle-to-vehicle communication and storage medium
CN115056755A (en) * 2022-08-19 2022-09-16 理工雷科智途(泰安)汽车科技有限公司 Emergency braking control method and system for self-vehicle under condition that front vehicle is shielded
CN115482662A (en) * 2022-09-09 2022-12-16 湖南大学 Method and system for predicting collision avoidance behavior of driver under dangerous working condition

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005016086A1 (en) * 2005-04-08 2006-10-12 GM Global Technology Operations, Inc., Detroit Active driving safety system for motor vehicle, uses control algorithm to evaluate and then effect or disallow lane switching of vehicle based on vehicle driving conditions as well as proximity of vehicle with other vehicles or obstacles
CN105691388A (en) * 2016-01-14 2016-06-22 南京航空航天大学 Vehicle collision avoidance system and track planning method thereof
CN105966396A (en) * 2016-05-13 2016-09-28 江苏大学 Vehicle collision avoidance control method based on driver collision avoidance behavior
CN106379316A (en) * 2016-09-06 2017-02-08 江苏大学 Vehicle active collision avoidance mode switching method
CN106427998A (en) * 2016-09-30 2017-02-22 江苏大学 Control method for avoiding collision during emergent lane changing of vehicle in high-speed state

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005016086A1 (en) * 2005-04-08 2006-10-12 GM Global Technology Operations, Inc., Detroit Active driving safety system for motor vehicle, uses control algorithm to evaluate and then effect or disallow lane switching of vehicle based on vehicle driving conditions as well as proximity of vehicle with other vehicles or obstacles
CN105691388A (en) * 2016-01-14 2016-06-22 南京航空航天大学 Vehicle collision avoidance system and track planning method thereof
CN105966396A (en) * 2016-05-13 2016-09-28 江苏大学 Vehicle collision avoidance control method based on driver collision avoidance behavior
CN106379316A (en) * 2016-09-06 2017-02-08 江苏大学 Vehicle active collision avoidance mode switching method
CN106427998A (en) * 2016-09-30 2017-02-22 江苏大学 Control method for avoiding collision during emergent lane changing of vehicle in high-speed state

Cited By (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110040115A (en) * 2018-01-17 2019-07-23 现代摩比斯株式会社 Emergency braking control method for vehicle
CN108490941A (en) * 2018-03-29 2018-09-04 奇瑞汽车股份有限公司 Applied to the automated driving system and its control method of road sweeper, device
CN108791284B (en) * 2018-05-16 2019-12-03 名商科技有限公司 A kind of driving assistance system of electric car
CN108791284A (en) * 2018-05-16 2018-11-13 杨德兴 A kind of driving assistance system of electric vehicle
CN108791283A (en) * 2018-05-16 2018-11-13 杨德兴 A kind of driving pilot controller for driverless electric automobile
CN108791283B (en) * 2018-05-16 2019-11-05 江苏锡沂高新区科技发展有限公司 A kind of driving pilot controller for driverless electric automobile
CN108859998A (en) * 2018-06-14 2018-11-23 辽宁工业大学 A kind of front truck rear-end device and its control method
CN110654378A (en) * 2018-06-29 2020-01-07 比亚迪股份有限公司 Vehicle control method, device and system and vehicle
CN109094562A (en) * 2018-08-24 2018-12-28 洛阳中科晶上智能装备科技有限公司 A kind of driverless tractor work compound pitch control unit and control method
CN109159733A (en) * 2018-09-10 2019-01-08 百度在线网络技术（北京）有限公司 Unmanned vehicle crossing current method, apparatus, equipment and storage medium
US11390212B2 (en) 2018-09-10 2022-07-19 Apollo Intelligent Driving (Beijing) Technology Co Method and apparatus for unmanned vehicle passing through intersection, device and storage medium
CN109159733B (en) * 2018-09-10 2021-01-05 百度在线网络技术（北京）有限公司 Method, device and equipment for passing through unmanned vehicle intersection and storage medium
CN109334564A (en) * 2018-09-11 2019-02-15 南京航空航天大学 A kind of automobile active safety early warning system of anticollision
CN109188438B (en) * 2018-09-12 2021-04-06 百度在线网络技术（北京）有限公司 Yaw angle determination method, device, equipment and medium
CN109188438A (en) * 2018-09-12 2019-01-11 百度在线网络技术（北京）有限公司 Yaw angle determines method, apparatus, equipment and medium
US11372098B2 (en) 2018-09-12 2022-06-28 Apollo Intelligent Driving Technology (Beijing) Co., Ltd. Method, apparatus, device, and medium for determining angle of yaw
CN109334659A (en) * 2018-09-27 2019-02-15 北京海纳川汽车部件股份有限公司 Control method, device and the vehicle with it of vehicle
CN109991976A (en) * 2019-03-01 2019-07-09 江苏理工学院 A method of the unmanned vehicle based on standard particle group's algorithm evades dynamic vehicle
CN110362077B (en) * 2019-07-03 2020-09-04 上海交通大学 Unmanned vehicle emergency hedge decision making system, method and medium
CN110481544A (en) * 2019-07-30 2019-11-22 江苏大学 A kind of automotive correlation prevention method and anti-collision system for pedestrian
CN110481544B (en) * 2019-07-30 2020-11-20 江苏大学 Automobile collision avoidance method and collision avoidance system for pedestrians
CN110550045A (en) * 2019-09-09 2019-12-10 奇瑞汽车股份有限公司 Speed planning and tracking method, device and storage medium
CN112550282A (en) * 2019-09-09 2021-03-26 大陆泰密克汽车系统（上海）有限公司 Warning method and warning system for motor vehicle
CN110550045B (en) * 2019-09-09 2020-11-10 奇瑞汽车股份有限公司 Speed planning and tracking method, device and storage medium
CN110723142B (en) * 2019-09-20 2020-12-18 江苏大学 Intelligent automobile emergency collision avoidance control method
CN110723142A (en) * 2019-09-20 2020-01-24 江苏大学 Intelligent automobile emergency collision avoidance control method
CN110606082A (en) * 2019-09-25 2019-12-24 中国第一汽车股份有限公司 Braking system, method and device based on automatic driving and vehicle
CN112026759A (en) * 2020-09-12 2020-12-04 哈尔滨理工大学 Electric intelligent automobile collision avoidance device with multi-mode switching and method
CN112660119A (en) * 2021-01-14 2021-04-16 浙江吉利控股集团有限公司 Vehicle rear collision early warning method
CN114913709A (en) * 2021-02-07 2022-08-16 广州汽车集团股份有限公司 Intersection collision early warning method and device based on vehicle-to-vehicle communication and storage medium
CN114407880A (en) * 2022-02-18 2022-04-29 岚图汽车科技有限公司 Unmanned emergency obstacle avoidance path tracking method
CN114407880B (en) * 2022-02-18 2023-06-27 岚图汽车科技有限公司 Unmanned emergency obstacle avoidance path tracking method
CN115056755A (en) * 2022-08-19 2022-09-16 理工雷科智途(泰安)汽车科技有限公司 Emergency braking control method and system for self-vehicle under condition that front vehicle is shielded
CN115056755B (en) * 2022-08-19 2022-11-15 理工雷科智途(泰安)汽车科技有限公司 Emergency braking control method and system for self-vehicle under condition that front vehicle is shielded
CN115482662A (en) * 2022-09-09 2022-12-16 湖南大学 Method and system for predicting collision avoidance behavior of driver under dangerous working condition

Also Published As

Publication number Publication date
CN107226089B (en) 2019-06-04

Similar Documents

Publication Publication Date Title
CN107226089A (en) A kind of pilotless automobile collision avoidance strategy
CN109131326B (en) Self-adaptive cruise controller with lane change auxiliary function and working method thereof
CN109808685B (en) Automobile early warning automatic collision avoidance control method based on danger assessment
US10501084B2 (en) Vehicle control system
EP1373005B1 (en) A motor vehicle driving aid system
US6624747B1 (en) Method for preventing the collision of a vehicle with an obstacle located in front of the vehicle and braking device
CN105722738B (en) The drive dynamic control device of moving body
KR101081777B1 (en) Method and device for reducing damage caused by an accident
US7916006B2 (en) Judgment line calculations for a vehicle safety system
CN103827940B (en) The drive assist system of vehicle
CN110001647B (en) Vehicle triggering lane change method, system and computer readable storage medium
US8095277B2 (en) Method for determining a direction of travel in a motor vehicle
CN111016902A (en) Vehicle speed auxiliary control method and system during lane changing of vehicle and vehicle
CN105620475A (en) Intelligent drive system with safety protection function
CN107924628A (en) Anti-collision system
CN102209656A (en) Traveling aid device
CN112477856B (en) Arbitration method and system for emergency steering
US9776631B1 (en) Front vehicle stopping indicator
CN112896157A (en) Defensive driving control method, device and system, vehicle-mounted terminal and storage medium
CN109823338A (en) A kind of automobile active safety early warning system based on comprehensive evaluation index
CN111634271A (en) Method and system for safely stopping unmanned vehicle by wire control braking in case of tire burst during high-speed running and vehicle
CN110758391A (en) Control method of self-adaptive cruise ACC system for passenger car
CN113665578A (en) Pavement pit avoiding system based on vision system and millimeter wave radar
CN113085903A (en) Man-vehicle cooperative driving method and system based on hybrid control instruction
KR20120067759A (en) The collision avoiding method according to method collision risk degree at low-speed and short distance in vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20190604