CN107672587A - A kind of urgent anti-collision system and method - Google Patents
A kind of urgent anti-collision system and method Download PDFInfo
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- CN107672587A CN107672587A CN201710725633.2A CN201710725633A CN107672587A CN 107672587 A CN107672587 A CN 107672587A CN 201710725633 A CN201710725633 A CN 201710725633A CN 107672587 A CN107672587 A CN 107672587A
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Classifications
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- 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
- 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
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- 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
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- 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
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- 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
- B60W2520/12—Lateral speed
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- 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
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a kind of urgent anti-collision system and method, it is related to automotive safety control field.Urgent anti-collision system includes trajectory predictions unit, judging unit, computing unit and control unit.Trajectory predictions unit is used for the motion track of at least one destination object from car and from car periphery in the persistence forecasting scheduled time in future.Judging unit is used for the motion track according to destination object and the motion track from car persistently judges to whether there is risk of collision from car and destination object.Computing unit is used for described from the collision avoidance path of car according to persistently calculating at least one from the motion track of car and the motion track of destination object.The result that control unit is used to be calculated according to computing unit change described in from the transport condition of car so that from car along collision avoidance route.Using the urgent anti-collision system and method for the present invention, can in real time, precisely, reasonably planning collision avoidance path, the collision avoidance to greatest extent in the case where ensureing vehicle safety.
Description
Technical field
The present invention relates to automotive safety control field, more particularly to a kind of urgent anti-collision system and method.
Background technology
With the development of society, the vehicle travelled on road is more and more, so as to which traffic accident is also more and more.Therefore,
The development of automobile active safety system is significant.
Automotive active anti-collision system can remind driver to pay attention to before accident occurs, and take peace automatically in an emergency situation
Full measure, it can effectively reduce the generation of automobile collision accident.Some active collision avoidance technologies are presently, there are, are led in an emergency situation
The intervention of dynamic is crossed, automatically starts brake hard and urgent lane change avoids intervening measure.
Because above-mentioned technology judges to avoid direction simply according to this car of detections of radar and front truck, the car of the vehicle of adjacent lane
Away from not considering from car and front truck, fellow road-users speed, acceleration and direction.In a practical situation, from the target around car
The position of object, direct of travel, speed etc. change at any time, and the content detected in institute's techniques described above is less, avoid road
Footpath planning it is unreasonable, while under precarious position can not to greatest extent support vehicles safety.
The content of the invention
It is few it is an object of the invention to solve anti-collision system detection content in the prior art, it is impossible in real time, precisely, rationally
Plan the problem of collision avoidance path in ground, there is provided a kind of urgent anti-collision system.
Another object of the present invention is that to solve anti-collision system detection content in the prior art few, it is impossible in real time, precisely, close
A kind of the problem of reason ground planning collision avoidance path, there is provided urgent collision avoidance method.
Especially, the invention provides a kind of urgent anti-collision system, including：
Trajectory predictions unit, in the persistence forecasting scheduled time in future from car and at least one mesh from car periphery
Mark the motion track of object；
Judging unit, persistently judge institute for the motion track according to the destination object and the motion track from car
State from car and the destination object and whether there is risk of collision；
Computing unit, for persistently being calculated from the motion track of car and the motion track of the destination object according to described
At least one is described from the collision avoidance path of car；
Control unit, for the result that is calculated according to the computing unit change described in from the transport condition of car so that institute
State from car along the collision avoidance route.
Further, the trajectory predictions unit includes：
Travel speed detection unit, for detect the travel speed from car and the destination object relative to it is described from
The travel speed of car；
Lateral velocity detection unit, for detecting destination object described in the lateral velocity from car relative to described from car
Lateral velocity；
Track Pick-up unit, for synthesizing motion track according to the travel speed and lateral velocity.
Further, the judging unit by the motion track of the motion track from car and the destination object it
Between relative distance judge whether risk of collision；
If the relative distance is more than pre-determined distance, judgement will not collide；
If the relative distance is not more than the pre-determined distance, judgement can collide.
Further, the collision avoidance path is persistently more than the path of the pre-determined distance for the holding relative distance.
Further, the computing unit is when calculating the collision avoidance path, while calculates described from car along the collision avoidance
Transport condition required for route.
Further, described control unit includes：
Accelerator module, for lifting the speed from car；
Deceleration unit, for reducing the speed from car；
Steering unit, for changing the travel direction from car；
Wherein, by controlling the steering unit, accelerator module and deceleration unit to realize the transport condition so that described
From car along the collision avoidance route.
Further, given a warning described in described control unit control simultaneously from car；
Preferably, the warning includes audible alert and/or indicator lamp warning.
Especially, present invention also offers a kind of urgent collision avoidance method applied to urgent anti-collision system, including：
Step S1, from the shifting of car and at least one destination object from car periphery in the persistence forecasting scheduled time in future
Dynamic rail mark；
Step S2, from car according to persistently judging the motion track of the destination object and the motion track from car
It whether there is risk of collision with the destination object；
Step S3, at least one is persistently calculated according to the motion track of the motion track from car and the destination object
From the collision avoidance path of car described in bar；
Step S4, from the transport condition of car so that described from car according to the result change that the computing unit calculates
Along the collision avoidance route.
Further, in the step S2, according to the motion track of the destination object and the moving rail from car
Whether mark will collide described in persistently judging from car and the destination object, if it is decided that can collide, then carry out down
One step, warning is simultaneously emitted by remind driver.
The urgent anti-collision system and method for the present invention, by detecting the driving trace from car and surrounding objects object in real time,
Risk of collision is judged whether according to driving trace, in the case where risk of collision be present and calculate at least one collision avoidance road
Footpath, then controlled and changed from car from the transport condition of car so that from car along collision avoidance route by control unit, can in real time,
Precisely, collision avoidance path is reasonably planned, ensures vehicle safety to greatest extent.
According to the accompanying drawings will be brighter to the detailed description of the specific embodiment of the invention, those skilled in the art
Above-mentioned and other purposes, the advantages and features of the present invention.
Brief description of the drawings
Some specific embodiments of the present invention are described in detail by way of example, and not by way of limitation with reference to the accompanying drawings hereinafter.
Identical reference denotes same or similar part or part in accompanying drawing.It should be appreciated by those skilled in the art that these
What accompanying drawing was not necessarily drawn to scale.In accompanying drawing：
Fig. 1 is the schematic system diagram of urgent anti-collision system according to an embodiment of the invention；
Fig. 2 is the flow chart of urgent collision avoidance method according to an embodiment of the invention；
Fig. 3 is the schematic diagram in urgent anti-collision system generation collision avoidance path according to an embodiment of the invention；
Fig. 4 is the schematic diagram of the collision avoidance route provided from car along the urgent anti-collision system of the present invention.
Mark in accompanying drawing for：
1- trajectory predictions units,
11- travel speed detection units, 12- lateral velocity detection units, 13- Track Pick-up units,
2- judging units,
3- computing units,
4- control units,
41- accelerator modules, 42- deceleration units, 43- steering units.
Embodiment
Fig. 1 is the schematic system diagram of urgent anti-collision system according to an embodiment of the invention.It is as shown in figure 1, urgent
Anti-collision system may include trajectory predictions unit 1, judging unit 2, computing unit 3 and control unit 4 in general manner.
Trajectory predictions unit 1 is used at least one target pair from car and from car periphery in the persistence forecasting scheduled time in future
The motion track of elephant.Destination object can include motive objects and resting.Motive objects include pedestrian, bicycle, vehicle etc..It is static
Thing includes electric pole, traffic mark etc..Judging unit 2 is used for the motion track according to destination object and the motion track from car is held
It is continuous to judge to whether there is risk of collision from car and destination object.Computing unit 3 is used for according to the motion track and target pair from car
It is described from the collision avoidance path of car that the motion track of elephant persistently calculates at least one.Control unit 4 is based on according to computing unit 3
The result that calculates changes described from the transport condition of car so that from car along collision avoidance route.
The urgent anti-collision system and method for the present invention, by detecting from car and surrounding objects object and predicting following pre- in real time
The motion track of at least one destination object in fixing time from car and from car periphery, judges whether to touch according to motion track
Risk is hit, in the case where risk of collision be present and at least one collision avoidance path is calculated, then being controlled by control unit 4 from car
Change from the transport condition of car so that from car along collision avoidance route, can in real time, precisely, reasonably planning collision avoidance path,
Collision avoidance to greatest extent in the case of guarantee vehicle safety.
As shown in figure 1, trajectory predictions unit 1 includes travel speed detection unit 11, lateral velocity detection unit 12 and rail
Mark generation unit 13.In the present invention, motion track is predicted using ground speed, can not be rocked by vehicle, deviation etc. influences,
Detection error is reduced to greatest extent.Obtaining the method for the ground speed can include：What with good grounds extraneous sensor was detected
Method that the difference of the position of fixture and object is detected, using the communication between object receive object institute
The method of the speed detected, using road inter-vehicle communication receive the speed of the object detected by the infrastructure of trackside
Method.
Travel speed detection unit 11 is used to detect travel speed and destination object from car relative to the traveling speed from car
Degree.Travel speed detection unit 11 includes：
For detecting the velocity sensor and acceleration transducer of the travel speed from car.It is car from the travel speed of car
The car speed that electronic control unit 4 (ECU) is provided；
For the sensor for the travel speed for detecting surrounding objects object, the speed and acceleration of target object are drawn.Pass
Sensor can be the video camera for determining range-to-go and range rate.Camera acquisition image, it is special on image
Determine region and define virtual coil, then by estimating the motion vector of virtual coil, it is possible to detection by virtual coil car
Movement velocity and acceleration.
Lateral velocity detection unit 12 is used to detect lateral velocity and destination object from car relative to the laterally speed from car
Degree.Lateral velocity detection unit 12 includes：
For detecting the sensor of the lateral velocity from car.Sensor can be high-definition camera.Pass through high-definition camera
For gather track information and identification traveling lane tag line, by the change of distance between vehicle and marking line come
Calculate lateral velocity and transverse acceleration；
For the sensor for the lateral velocity for detecting target object.Sensor can be millimetre-wave radar.Millimetre-wave radar
For detecting distance and range rate from car and target object, object is then calculated according to distance and range rate
The lateral velocity and transverse acceleration of body.Sensor is also based on the technology of laser or the technology based on ultrasonic wave.
Track Pick-up unit 13, for synthesizing motion track according to the travel speed and lateral velocity.Track Pick-up list
The data that member 13 detects according to travel speed detection unit 11 and lateral velocity detection unit 12, are generated from car and target object
Motion track and predict the motion track in the following scheduled time.
Judging unit 2 is judged whether by the relative distance between the motion track of car and the motion track of destination object
Risk of collision be present.If the relative distance is more than pre-determined distance, judgement will not collide.If the relative distance
No more than the pre-determined distance, then judge to collide.Judging unit 2 can also be according to the motion track and target pair from car
Relative distance rate of change between the motion track of elephant judges whether risk of collision.
Judging unit 2 can be made up of memory module and message processing module, be respectively used to storage and processing detection unit
Data, effectively identify precarious position, generate prompt message, judge whether to take intervening measure and planning collision avoidance path.
Judging unit 2 can also include alarm unit.The alarm unit includes voice cue module and car-mounted terminal, language
Sound reminding module uses speech chip, for providing safe distance early warning to driver；Car-mounted terminal is used in meter panel of motor vehicle
In to driver provide lane change directional information.
Computing unit 3 is calculated from car along the traveling required for collision avoidance route when calculating the collision avoidance path
State.The collision avoidance path is the path for making the relative distance between car and target object persistently be more than pre-determined distance.It is default
Distance can be set by driver oneself, can also be automatically generated by urgent anti-collision system.
The mathematical modeling for being presently used for calculating collision avoidance path has many kinds:By circular curve, Bezier spline curve,
Cornu spiral or high-order moment fitting track；Can also be by the use of SIN function as laterally to acceleration function model, progress
Integration obtains lane change track.
Speed and the aspect of direction two can be embodied in from car along the transport condition required for collision avoidance route.Urgent collision avoidance
System is calculated from car along the speed of collision avoidance route, acceleration and direction while collision avoidance path is calculated.
As shown in figure 1, control unit 4 includes accelerator module 41, deceleration unit 42 and steering unit 43, wherein, pass through control
Steering unit 43, accelerator module 41 and deceleration unit 42 processed realize the transport condition needed from car so that from car along collision avoidance path row
Sail.
Accelerator module 41 is used to lift the speed from car.Accelerator module 41 can be EGAS control system, pass through control
The signal of electronic throttle sensor output processed, control air throttle opens the adjustment of size, to realize the control to car speed.From
And make to bring about the desired sensation, oily precise match, come realize obtained by computing unit 3 from vehicle speed and acceleration, make whole process more precisely,
Safety.
Accelerator module 41 can also be as is conventional by controlling making for accelerator pedal and air and fuel-metering system
For providing power to vehicle.After control unit 4 starts, car speed that accelerator module 41 calculates according to computing unit 3
And acceleration, fuel delivery is automatically adjusted, makes to reach the speed and acceleration from car needs from car.
Deceleration unit 42 is used to reduce the speed from car.Deceleration unit 42 is preferably automatic breaking system.Braking mode is done
Include brake monitor, motor-driven mechanism, the mechanical mechanism being installed on brake pedal and the machine for being installed at gas pedal in advance
Tool mechanism, brake monitor are connected with computing unit 3, and brake monitor is using traditional pid algorithm come controlled motor driving machine
Structure, motor and the mechanical mechanism that is installed on brake pedal and be installed at the mechanical mechanism of gas pedal and be connected, and is pulled with this
Brake pedal and gas pedal, realize emergency deceleration.
It is understood that automatic breaking system can also include brake-by-wire (brake by wire) brakes, line
The dynamic brakes of control has the electrically or electronically control interface for being used for communicating with vehicle control device.Other brakes, such as
Electric hydaulic brakes or electric mechanical brake system, can be employed in conjunction with the invention.
Steering unit 43 is used to change the travel direction from car.43 preferably automated steering of steering unit.Auto-steering
System includes steering controller, motor-driven mechanism and hydraulic drive mechanism.Steering controller is connected with information process unit, turns
Included to mechanism and turn to executing agency and longitudinal executing agency, motor-driven mechanism is as the executing agency turned to, hydraulic-driven
Mechanism carrys out power-assisted steering as longitudinal executing agency.Fast track surgery that steering controller is calculated by computing unit 3 controls
Motor and hydraulic drive mechanism, motor are arranged in steering mechanism, and hydraulic drive mechanism is arranged on hydraulic booster pump.Electricity simultaneously
Sub- stabilizing control system (ESC) is activated, to make wheel in mobile process is quickly avoided without departing from road surface, and by there is choosing
Selecting property and initial brake pressure applied to individual wheel early keep vehicle steadily, so as to finally realize that steering engagement is grasped
Make.
Automatic steering system preferably comprises drive-by-wire (drive by wire) steering, drive-by-wire steering
With the electrically or electronically control interface for turning to input from steering wheel and vehicle control device transmission.Other steering, example
Such as electrohydraulic steering system or motor machine steering, can be employed in conjunction with the invention.
In order to remind pilot control unit 4 to work, control unit 4 also includes control and given a warning from car.Such as：
Send audible alert and/or indicator lamp warning.
In the present invention, urgent anti-collision system can also can determine that the steering operation of driver by the detection of steering wheel angle
Whether in place (including oversteering).If driver does not perform steering or ovdersteering, control system carries out lane change path planning,
Then urgent collision avoidance intervening measure is started.
Present invention also offers a kind of urgent collision avoidance method.Fig. 2 is urgent collision avoidance method according to an embodiment of the invention
Flow chart.As shown in Fig. 2 including：
Step S1, the moving rail of at least one destination object in the persistence forecasting scheduled time in future from car and from car periphery
Mark；
Step S2, the motion track according to the motion track of destination object and from car persistently judge be from car and destination object
It is no risk of collision to be present；
Step S3, at least one is persistently calculated from car according to the motion track from car and the motion track of destination object
Collision avoidance path；
Step S4, the result calculated according to computing unit 3 change from the transport condition of car so that from car along collision avoidance path
Traveling.
In order that driver knows present case the very first time, in step s 2, judging unit 2 is according to the shifting of destination object
Dynamic rail mark and motion track from car persistently judge whether will collide from car and destination object, if it is decided that can touch
Hit, then carry out in next step, being simultaneously emitted by warning to remind driver.
Fig. 3 is the schematic diagram according to an embodiment of the invention from car generation collision avoidance path.As shown in figure 3, from car
Urgent anti-collision system detects front truck emergency brake, with from car be likely to occur risk of collision when, computing unit 3 calculates collision avoidance
Path, collision avoidance path can be one, or a plurality of.Two collision avoidance paths, respectively left-lane collision avoidance are shown in Fig. 3
Path and right lane collision avoidance path.The higher collision avoidance path of a safety coefficient is selected from car, is travelled.Safety coefficient is higher
As the relative distance of the mobile route of collision avoidance path and surrounding objects object is farther out.
It is understood that in Fig. 3 when the left car on left-lane travels speed, from car and the mobile route of left car
The distance between rate of change it is very fast, from car when to left-lane lane-change, easily and left car collide.Therefore, in such case
Under, anti-collision system cancels left-lane collision avoidance path automatically.Fig. 4 is the collision avoidance road provided from car along the urgent anti-collision system of the present invention
The schematic diagram of footpath traveling.As shown in figure 4, after right-hand lane collision avoidance path is determined, start since the control unit 4 of car tight
Anxious collision avoidance intervening measure.Urgent anti-collision system can be when detecting that driver has the operation that collision avoidance is intended to, No starting control
Unit 4 operates in order to avoid intervening driver.When the situation is critical, urgent anti-collision system can also directly lock steering, braking etc., prohibit
The only operation of driver, while start control unit 4 and control vehicle along collision avoidance route, when being in comparatively safe state from car
When, unlock, and remind driver to operate vehicle.
Using the urgent anti-collision system of the present invention, both sides vehicle can also be avoided to being touched during current lane lane change
Hit.Concrete condition is as follows：When judging unit 2 detects that data analysis goes out both sides vehicle to from car according to trajectory predictions unit 1
During traveling lane lane change, there is the possibility to collide from car and lane change vehicle, route the message to computing unit 3, calculate single
Member 3 calculates optimal collision avoidance path and the speed needed from car along collision avoidance route, acceleration according to the real-time condition of road
And direction, speed, acceleration and the direction controlling vehicle that control unit 4 is provided according to computing unit 3 are along collision avoidance route.
The urgent anti-collision system of the present invention can also detect rear car and distance from car in emergency brake, with front truck
It is as far as possible enough to rear car to be braked away from discrete time while not colliding, avoid occurring from car by rear-end collision.
So far, although those skilled in the art will appreciate that detailed herein have shown and described multiple showing for the present invention
Example property embodiment, still, still can be direct according to present disclosure without departing from the spirit and scope of the present invention
It is determined that or derive many other variations or modifications for meeting the principle of the invention.Therefore, the scope of the present invention is understood that and recognized
It is set to and covers other all these variations or modifications.
Claims (9)
1. a kind of urgent anti-collision system, including：
Trajectory predictions unit, in the persistence forecasting scheduled time in future from car and at least one target pair from car periphery
The motion track of elephant；
Judging unit, for the motion track according to the destination object and the motion track from car persistently judge described in from
Car whether there is risk of collision with the destination object；
Computing unit, for persistently being calculated at least from the motion track of car and the motion track of the destination object according to described
From the collision avoidance path of car described in one；With
Control unit, for the result that is calculated according to the computing unit change it is described from the transport condition of car so that it is described oneself
Car is along the collision avoidance route.
2. system according to claim 1, it is characterised in that the trajectory predictions unit includes：
Travel speed detection unit, for detecting the travel speed from car and the destination object relative to described from car
Travel speed；
Lateral velocity detection unit, for detecting destination object described in the lateral velocity from car relative to the horizontal stroke from car
To speed；With
Track Pick-up unit, for synthesizing motion track according to the travel speed and lateral velocity.
3. system according to claim 1, it is characterised in that the judging unit by the motion track from car with
Relative distance between the motion track of the destination object judges whether risk of collision；
If the relative distance is more than pre-determined distance, judgement will not collide；
If the relative distance is not more than the pre-determined distance, judgement can collide.
4. system according to claim 3, it is characterised in that the collision avoidance path continues greatly for the holding relative distance
In the path of the pre-determined distance.
5. system according to claim 1, it is characterised in that the computing unit is when calculating the collision avoidance path, together
When calculate it is described from car along the transport condition required for the collision avoidance route.
6. system according to claim 4, it is characterised in that described control unit includes：
Accelerator module, for lifting the speed from car；
Deceleration unit, for reducing the speed from car；
Steering unit, for changing the travel direction from car；
Wherein, by controlling the steering unit, accelerator module and deceleration unit to realize the transport condition so that described from car
Along the collision avoidance route.
7. system according to claim 1, it is characterised in that described control unit control simultaneously is described to send police from car
Accuse；
Preferably, the warning includes audible alert and/or indicator lamp warning.
8. a kind of urgent collision avoidance method applied to urgent anti-collision system any one of claim 1-7, including：
Step S1, from car and the moving rail of at least one destination object from car periphery in the persistence forecasting scheduled time in future
Mark；
Step S2, from car and institute according to persistently judging the motion track of the destination object and the motion track from car
State destination object and whether there is risk of collision；
Step S3, at least one institute is persistently calculated according to the motion track of the motion track from car and the destination object
State the collision avoidance path from car；
Step S4, the result calculated according to the computing unit change described in from the transport condition of car so that described from car along institute
State collision avoidance route.
9. urgent collision avoidance method according to claim 8, it is characterised in that in the step S2, according to the target
Whether the motion track of object and the motion track from car will occur described in persistently judging from car and the destination object
Collision, if it is decided that can collide, then carry out in next step, being simultaneously emitted by warning to remind driver.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109177976A (en) * | 2018-10-22 | 2019-01-11 | 吉利汽车研究院（宁波）有限公司 | Self-adapting cruise control method and system |
| CN109739246A (en) * | 2019-02-19 | 2019-05-10 | 百度在线网络技术（北京）有限公司 | Decision-making technique, device, equipment and storage medium during a kind of changing Lane |
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| CN110764109A (en) * | 2019-10-29 | 2020-02-07 | Oppo广东移动通信有限公司 | Vehicle danger early warning method and related product |
| CN113619574A (en) * | 2021-08-27 | 2021-11-09 | 中国第一汽车股份有限公司 | Vehicle avoidance method and device, computer equipment and storage medium |
| CN113830084A (en) * | 2021-10-29 | 2021-12-24 | 东风汽车集团股份有限公司 | Control method based on multi-lane vehicle active collision avoidance and vehicle |
| CN114312769A (en) * | 2022-02-11 | 2022-04-12 | 清华大学 | Intelligent vehicle emergency braking method and system considering transverse and longitudinal movement intention of vehicle |
| CN115140035A (en) * | 2022-07-12 | 2022-10-04 | 岚图汽车科技有限公司 | Lateral collision early warning control method and system |
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| CN109739246A (en) * | 2019-02-19 | 2019-05-10 | 百度在线网络技术（北京）有限公司 | Decision-making technique, device, equipment and storage medium during a kind of changing Lane |
| CN109976334B (en) * | 2019-02-25 | 2022-07-12 | 广州文远知行科技有限公司 | Vehicle lane changing method, device, equipment and storage medium |
| CN109976334A (en) * | 2019-02-25 | 2019-07-05 | 广州文远知行科技有限公司 | Vehicle lane changing method, device, equipment and storage medium |
| CN110027553A (en) * | 2019-04-10 | 2019-07-19 | 湖南大学 | A kind of anti-collision control method based on deeply study |
| CN110027553B (en) * | 2019-04-10 | 2020-10-23 | 湖南大学 | Anti-collision control method based on deep reinforcement learning |
| CN110588656A (en) * | 2019-09-30 | 2019-12-20 | 的卢技术有限公司 | Self-adaptive kinetic energy recovery method and system based on road and road condition information |
| CN110764109A (en) * | 2019-10-29 | 2020-02-07 | Oppo广东移动通信有限公司 | Vehicle danger early warning method and related product |
| CN113619574A (en) * | 2021-08-27 | 2021-11-09 | 中国第一汽车股份有限公司 | Vehicle avoidance method and device, computer equipment and storage medium |
| CN113830084A (en) * | 2021-10-29 | 2021-12-24 | 东风汽车集团股份有限公司 | Control method based on multi-lane vehicle active collision avoidance and vehicle |
| CN114312769A (en) * | 2022-02-11 | 2022-04-12 | 清华大学 | Intelligent vehicle emergency braking method and system considering transverse and longitudinal movement intention of vehicle |
| CN114312769B (en) * | 2022-02-11 | 2023-11-10 | 清华大学 | Intelligent vehicle emergency braking method and system considering cycle transverse and longitudinal movement intention |
| CN115140035A (en) * | 2022-07-12 | 2022-10-04 | 岚图汽车科技有限公司 | Lateral collision early warning control method and system |
| WO2024146027A1 (en) * | 2023-01-06 | 2024-07-11 | 中国第一汽车股份有限公司 | Method and apparatus for determining collision avoidance path of vehicle, and storage medium and vehicle |
| CN116674548A (en) * | 2023-05-10 | 2023-09-01 | 苏州畅行智驾汽车科技有限公司 | Steering collision avoidance path determining method and device |
| CN116674548B (en) * | 2023-05-10 | 2024-04-05 | 苏州畅行智驾汽车科技有限公司 | Steering collision avoidance path determining method and device |
| CN117429420A (en) * | 2023-12-21 | 2024-01-23 | 青岛慧拓智能机器有限公司 | Anti-collision method for unmanned vehicle, electronic equipment, server and medium |
| CN117429420B (en) * | 2023-12-21 | 2024-04-12 | 青岛慧拓智能机器有限公司 | Anti-collision method for unmanned vehicle, electronic equipment, server and medium |
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