CN111873990A - Lane changing collision avoidance device and method suitable for high-speed emergency working condition - Google Patents

Lane changing collision avoidance device and method suitable for high-speed emergency working condition Download PDF

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Publication number
CN111873990A
CN111873990A CN202010682612.9A CN202010682612A CN111873990A CN 111873990 A CN111873990 A CN 111873990A CN 202010682612 A CN202010682612 A CN 202010682612A CN 111873990 A CN111873990 A CN 111873990A
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collision avoidance
distance
vehicle
collision
lane
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CN202010682612.9A
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李茂月
河香梅
周鹏
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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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
    • 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
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a lane changing collision avoidance device suitable for high-speed emergency working conditions and a method thereof, relating to the technical field of collision avoidance devices; the front side of the intelligent vehicle is respectively provided with a laser radar and a collecting camera, and the laser radar, the collecting camera, the collision avoidance path planning module and the minimum safe distance module are all connected with a transverse controller based on the MPC; the collision avoidance method comprises the following steps: obtaining a real-time distance d between the vehicle-mounted sensor and a front obstacle, if the current distance is greater than a critical lane change safety distance, detecting that an available collision avoidance lane exists, and when the distance between the vehicle-mounted sensor and the obstacle is close to the critical lane change safety distance, executing collision avoidance in a lane change collision avoidance mode; the invention improves the safety, is convenient to use, has high stability, is simple and convenient to operate, and is convenient to realize quick collision prevention; can realize changing the way, simple structure.

Description

Lane changing collision avoidance device and method suitable for high-speed emergency working condition
Technical Field
The invention belongs to the technical field of collision avoidance devices, and particularly relates to a lane changing collision avoidance device and method suitable for high-speed emergency working conditions.
Background
The existing automobile often needs collision avoidance in case of emergency when running at high speed, and the existing method is active braking, which causes the phenomenon of insufficient safety distance or slow reaction during braking, so that collision is easy to occur, and therefore a safe collision avoidance device is needed for realizing.
Disclosure of Invention
In order to solve the existing problems; the invention aims to provide a lane changing collision avoidance device and method suitable for high-speed emergency working conditions.
The invention relates to a lane changing collision avoidance device suitable for high-speed emergency working conditions, which comprises an intelligent vehicle, a laser radar, a collecting camera, a collision avoidance path planning module, a minimum safe distance module and a transverse controller based on an MPC (Multi-control computer); the front side of the intelligent vehicle is respectively provided with a laser radar and a collecting camera, and the laser radar, the collecting camera, the collision avoidance path planning module and the minimum safe distance module are all connected with a transverse controller based on the MPC.
A lane changing collision avoidance method suitable for high-speed emergency working conditions comprises the following steps:
the method comprises the steps that due to the fact that an obstacle suddenly appears, the safety distance is insufficient, the problem that collision cannot be avoided by adopting braking collision avoidance is solved, the real-time distance d between the vehicle-mounted sensor and the front obstacle is obtained, if the current distance is larger than the critical lane changing safety distance, the fact that an available collision avoiding lane exists is detected, and when the distance between the vehicle-mounted sensor and the obstacle is close to the critical lane changing safety distance, collision avoidance is executed in a lane changing collision avoiding mode;
calculating the critical lane change safety distance according to the formula (1):
Dmin＝(V1-V2)×1.2+d0+Kcos(θ) (1)
in the formula, V1、V2The speeds of the bicycle and the barrier are respectively the speeds of the bicycle and the barrier; d0In order to take the track tracking error and the increased safety distance caused by the delay of the controller into consideration, 2-5 m is generally taken and set as 5 m; k is the length of the vehicle body; theta is a course angle;
when the distance D between the bicycle and the front obstacle is equal to DminThen, the track-changing trajectory function is expressed by the following formula (2):
Figure BDA0002586393340000021
and finally, outputting a steering wheel rotation angle to control the vehicle to follow the lane changing track according to the model prediction controller.
Compared with the prior art, the invention has the beneficial effects that:
firstly, the safety is improved, the use is convenient, the stability is high, the operation is simple and convenient, and the quick collision prevention is convenient to realize;
and secondly, the channel can be changed, and the structure is simple.
Drawings
For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic structural diagram of the present invention.
In the figure: 1-an intelligent vehicle; 2-laser radar; 3-a capture camera; 4-collision avoidance path planning module; 5-minimum safe distance module; 6-MPC based lateral controller.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the invention, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the range covered by the technical content disclosed by the invention without affecting the effect and the achievable purpose of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
As shown in fig. 1, the following technical solutions are adopted in the present embodiment: the system comprises an intelligent vehicle 1, a laser radar 2, a collecting camera 3, a collision avoidance path planning module 4, a minimum safe distance module 5 and a transverse controller 6 based on MPC; the front side of the intelligent vehicle 1 is respectively provided with a laser radar 2 and a collection camera 3, and the laser radar 2, the collection camera 3, the collision avoidance path planning module 4 and the minimum safe distance module 5 are all connected with a transverse controller 6 based on the MPC.
A lane changing collision avoidance method suitable for high-speed emergency working conditions comprises the following steps:
the method comprises the steps that due to the fact that an obstacle suddenly appears, the safety distance is insufficient, the problem that collision cannot be avoided by adopting braking collision avoidance is solved, the real-time distance d between the vehicle-mounted sensor and the front obstacle is obtained, if the current distance is larger than the critical lane changing safety distance, the fact that an available collision avoiding lane exists is detected, and when the distance between the vehicle-mounted sensor and the obstacle is close to the critical lane changing safety distance, collision avoidance is executed in a lane changing collision avoiding mode;
calculating the critical lane change safety distance according to the formula (1):
Dmin＝(V1-V2)×1.2+d0+Kcos(θ) (1)
in the formula, V1、V2The speeds of the bicycle and the barrier are respectively the speeds of the bicycle and the barrier; d0In order to take the track tracking error and the increased safety distance caused by the delay of the controller into consideration, 2-5 m is generally taken and set as 5 m; k is the length of the vehicle body; theta is a heading angle.
When the distance D between the bicycle and the front obstacle is equal to DminThen, the track-changing trajectory function is expressed by the following formula (2):
Figure BDA0002586393340000031
and finally, outputting a steering wheel rotation angle to control the vehicle to follow the lane changing track according to the model prediction controller.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (2)

1. The utility model provides a lane change collision avoidance device suitable for high-speed urgent operating mode which characterized in that: the system comprises an intelligent vehicle, a laser radar, a collecting camera, a collision avoidance path planning module, a minimum safe distance module and a transverse controller based on MPC; the front side of the intelligent vehicle is respectively provided with a laser radar and a collecting camera, and the laser radar, the collecting camera, the collision avoidance path planning module and the minimum safe distance module are all connected with a transverse controller based on the MPC.
2. A lane changing collision avoidance method suitable for high-speed emergency working conditions is characterized by comprising the following steps: the collision avoidance method comprises the following steps:
the method comprises the steps that due to the fact that an obstacle suddenly appears, the safety distance is insufficient, the problem that collision cannot be avoided by adopting braking collision avoidance is solved, the real-time distance d between the vehicle-mounted sensor and the front obstacle is obtained, if the current distance is larger than the critical lane changing safety distance, the fact that an available collision avoiding lane exists is detected, and when the distance between the vehicle-mounted sensor and the obstacle is close to the critical lane changing safety distance, collision avoidance is executed in a lane changing collision avoiding mode;
calculating the critical lane change safety distance according to the formula (1):
Dmin＝(V1-V2)×1.2+d0+Kcos(θ) (1)
in the formula, V1、V2The speeds of the bicycle and the barrier are respectively the speeds of the bicycle and the barrier; d0In order to take the track tracking error and the increased safety distance caused by the delay of the controller into consideration, 2-5 m is generally taken and set as 5 m; k is the length of the vehicle body; theta is a course angle;
when the bicycle is running and in frontDistance D ═ D of square obstacleminThen, the track-changing trajectory function is expressed by the following formula (2):
Figure FDA0002586393330000011
and finally, outputting a steering wheel rotation angle to control the vehicle to follow the lane changing track according to the model prediction controller.
CN202010682612.9A 2020-07-15 2020-07-15 Lane changing collision avoidance device and method suitable for high-speed emergency working condition Pending CN111873990A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112965489A (en) * 2021-02-05 2021-06-15 北京理工大学 Intelligent vehicle high-speed lane change planning method based on collision detection
CN113246974A (en) * 2021-04-12 2021-08-13 南京航空航天大学 Risk avoidance/loss reduction control method in unmanned emergency scene, storage medium and electronic device
CN115123310A (en) * 2022-08-31 2022-09-30 中汽数据(天津)有限公司 Unmanned vehicle obstacle avoidance local path planning method, device and storage medium
US11634152B2 (en) * 2021-06-23 2023-04-25 Rivian Ip Holdings, Llc Systems and methods for providing a suggested steering action indicator to user interface of vehicle

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CN109283843A (en) * 2018-10-12 2019-01-29 江苏大学 A kind of lane-change method for planning track merged based on multinomial with particle swarm algorithm
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CN110217227A (en) * 2019-06-25 2019-09-10 长春工业大学 A kind of braking in a turn joint collision avoidance control method suitable for ice-snow road operating condition
CN110614998A (en) * 2019-08-21 2019-12-27 南京航空航天大学 Aggressive driving-assisted curve obstacle avoidance and road changing path planning system and method
CN110723142A (en) * 2019-09-20 2020-01-24 江苏大学 Intelligent automobile emergency collision avoidance control method

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CN105857294A (en) * 2016-05-04 2016-08-17 常州工学院 Automobile lane change collision avoidance control method
CN106218638A (en) * 2016-08-17 2016-12-14 北方工业大学 Intelligent network-connected automobile cooperative lane change control 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
CN106940933A (en) * 2017-03-08 2017-07-11 北京理工大学 A kind of intelligent vehicle decision-making lane-change method based on intelligent transportation system
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CN108189835A (en) * 2017-12-28 2018-06-22 清华大学苏州汽车研究院（吴江） The collision avoidance control method and system of a kind of automatic Pilot
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CN110217227A (en) * 2019-06-25 2019-09-10 长春工业大学 A kind of braking in a turn joint collision avoidance control method suitable for ice-snow road operating condition
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112965489A (en) * 2021-02-05 2021-06-15 北京理工大学 Intelligent vehicle high-speed lane change planning method based on collision detection
CN113246974A (en) * 2021-04-12 2021-08-13 南京航空航天大学 Risk avoidance/loss reduction control method in unmanned emergency scene, storage medium and electronic device
US11634152B2 (en) * 2021-06-23 2023-04-25 Rivian Ip Holdings, Llc Systems and methods for providing a suggested steering action indicator to user interface of vehicle
US11932273B2 (en) 2021-06-23 2024-03-19 Rivian Ip Holdings, Llc Systems and methods for providing a suggested steering action indicator to user interface of vehicle
CN115123310A (en) * 2022-08-31 2022-09-30 中汽数据(天津)有限公司 Unmanned vehicle obstacle avoidance local path planning method, device and storage medium
CN115123310B (en) * 2022-08-31 2022-12-13 中汽数据(天津)有限公司 Unmanned vehicle obstacle avoidance local path planning method, equipment and storage medium

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