CN112572378B - Intelligent vehicle motion control method for protecting human-ground collision damage - Google Patents
Intelligent vehicle motion control method for protecting human-ground collision damage Download PDFInfo
- Publication number
- CN112572378B CN112572378B CN202011472165.0A CN202011472165A CN112572378B CN 112572378 B CN112572378 B CN 112572378B CN 202011472165 A CN202011472165 A CN 202011472165A CN 112572378 B CN112572378 B CN 112572378B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- human
- human body
- motion control
- speed
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
Abstract
The invention provides an intelligent vehicle motion control method for protecting human-ground collision damage. When the accident is monitored to be unavoidable, completely braking the vehicle to a time t1 when the head of the human body collides with the vehicle body for the first time; then releasing vehicle brake and monitoring the speed of the chest of the human body in the x and y directions in real time, and respectively calculating the difference e1 and e2 between the human speed and the vehicle speed in the x and y directions; longitudinal motion control is carried out according to e1, and transverse motion control is carried out according to e2 only after the man and the vehicle are out of contact; when the human body is detected to be about to fall to the ground, the vehicle is completely braked to avoid rolling. The invention has the beneficial effects that: through the control to horizontal, longitudinal motion of vehicle, guarantee that the human body can drop ground again after dropping on the automobile body to make the vehicle of removal can influence the human gesture that falls to the ground, and then the protection people ground collision damage.
Description
Technical Field
The invention relates to the field of intelligent automobiles, in particular to an intelligent automobile motion control method for protecting human-ground collision damage.
Background
The intelligent automobile is provided with good wishes of people for road traffic safety, intelligence, high efficiency, energy conservation, environmental protection and the like from the beginning, and people expect to greatly reduce the number of traffic accidents through the intelligent automobile and realize the vision of zero accidents. The human-vehicle collision accident is a very common accident form in all traffic accidents, and the unpredictability of people causes that the intelligent vehicle is difficult to comprehensively identify potential risks and take effective measures to stop the occurrence of the accidents. In the intelligent era, it is certain that the number of accidents is greatly reduced and the collision speed is also greatly reduced, but from the current mining of accident data, the research of an automatic emergency braking system for pedestrians and the practical situation of running of a small number of automobiles (such as Tesla) with certain intelligence, the intelligent automobile has a long distance from the zero accident landscape.
People expect the intelligent vehicle very much, and the intelligent vehicle can reduce the number of collision accidents such as vehicles and the like, particularly the collision vehicle speed, greatly, so as to protect passengers better, but the effect of protecting pedestrians is certainly not as obvious as the effect of protecting passengers due to the unpredictability of pedestrians, so that the pedestrian protection capability of the intelligent vehicle before realizing the zero accident vision needs to be researched and improved urgently, so as to protect weak road users by traffic intensity.
It has been shown that in low speed collision accidents, the human body injury is more from the impact with the ground, and the deep accident investigation result shows that the accident loss can be reduced 2/3 if the ground injury can be avoided. Therefore, the scholars have conducted extensive and intensive research on the collision damage mechanism, the simulation modeling and the damage protection method. In the aspect of damage protection, devices such as a vehicle roof and an engine cover, speed control methods such as braking, and the like are proposed, and in all control strategies, the control is only carried out on the longitudinal movement of the vehicle, and the control is not carried out on the transverse movement of the vehicle. It can be understood that after the collision of people and vehicles occurs, no vehicle (vehicles leave) is generally arranged right in front of the accident vehicle, and the vehicle behind the accident vehicle can also change lanes to leave, so that the method only controls the longitudinal movement is a safe method; the lateral direction is different, and if the vehicle moves to other lanes, the risk of collision with the vehicle in other lanes is increased. However, in practice, the human body often falls from the two sides of the vehicle to the ground under the influence of the initial speed, the rotating speed and the like of the human body, and researches show that only the longitudinal motion of the vehicle is controlled under the condition, so that the collision damage of the human body is obviously increased. Therefore, a method for controlling the lateral movement of a vehicle is needed to ensure that the lateral position of the vehicle can be adjusted according to the speed of a human body while the longitudinal movement of the vehicle is controlled.
Disclosure of Invention
Aiming at the current situation that the transverse motion of a vehicle is not controlled in the existing intelligent vehicle motion control method for protecting the human-ground collision damage, the invention provides an intelligent vehicle motion control method for protecting the human-ground collision damage, which controls the longitudinal motion of the vehicle according to the longitudinal speed difference of the human and the vehicle so as to ensure the speed consistency of the human and the vehicle, controls the transverse motion of the vehicle after the human and the vehicle are separated from contact according to the transverse speed difference of the human and the vehicle so as to ensure that the kinetic energy obtained by the human body from the vehicle body in the whole process is not increased so as to increase the risk of the human-ground collision damage, thereby realizing the purposes of influencing the falling posture of the human body and further protecting the human-ground collision damage by moving the vehicle, and comprising the following implementation steps:
s1: when the vehicle detects that the accident is unavoidable, completely braking the vehicle until t1 moment when the head of the human body collides with the vehicle body for the first time;
s2: after t1, releasing the vehicle brake, and monitoring the speed of the chest of the human body in the x direction and the y direction in real time;
s3: calculating the difference e1 between the chest speed of the human body and the speed of the vehicle body in the x direction, and dividing the difference e1 into a positive type, a zero type and a negative type; meanwhile, calculating the difference e2 between the chest speed of the human body and the speed of the vehicle body in the y direction, and dividing the difference e2 into seven types of negative big, negative middle, negative small, zero, positive small, middle and positive big;
s4: controlling the motion of the vehicle in the x direction according to a given rule; and controlling the movement of the vehicle in the y direction according to given steps only after the human-vehicle is out of contact, so as to control the position of the vehicle in place in a short time;
s5: when the vehicle detects that a person is about to fall off the engine hood, the vehicle is fully braked to be stationary.
When an accident is monitored to be unavoidable, the invention requires that the vehicle is completely braked to the moment t 1; then releasing vehicle brake, monitoring the speed of the chest of the human body in the x direction and the speed of the chest of the human body in the y direction in real time, and calculating the speed difference e1 between the chest of the human body and the vehicle body in the x direction and the speed difference e2 in the y direction; then, longitudinal motion control is carried out on the vehicle according to e1, and transverse motion control is carried out on the vehicle according to e2 only after the person and the vehicle are out of contact; when the falling-to-ground surface of the human body is monitored, the vehicle is completely braked to avoid rolling accidents; therefore, the aim of influencing the falling posture of the human body by moving the vehicle and further protecting the human body from collision and injury is fulfilled.
Preferably, in step S1, t1 is the time when the head of the human body makes contact with the vehicle body for the first time, and the vehicle is completely braked before the time node, so that on one hand, the speed of the head-vehicle collision time in the human body head-vehicle collision accident can be reduced as much as possible, and thus the head damage is reduced; on the other hand, the vehicle can be ensured to be in a complete braking state (because the monitoring of the vehicle cannot reach t1) in the accident that the head of the human body does not collide with the vehicle body (such as the human body collides with the side face of the vehicle), namely, the vehicle does not need to be controlled in the accident and only needs to be completely braked.
Preferably, in steps S2, S3 and S4, the x direction indicates the vehicle longitudinal direction at the moment of the human-vehicle collision and is directed to the vehicle advancing direction; the y direction is vertical to the x direction and points to the left side of the driver of the vehicle in the instant of collision.
Preferably, in step S3, the negative big finger e2< -9km/h, the negative middle finger-9 km/h < e2< -3km/h, the negative small finger-3 km/h < e2<0km/h, the positive small finger 0km/h < e2<3km/h, the middle finger 3km/h < e2<9km/h, and the positive big finger e2>9 km/h.
Preferably, in step S4, the motion control rule of the vehicle in the x direction is: when e1 is positive, the vehicle is accelerated, and the acceleration value is 1m/s2(ii) a When e1 is negative, the vehicle is decelerated, and the acceleration value is taken as-1 m/s2(ii) a When e1 is zero, the vehicle acceleration is controlled to be zero. In this process, when the vehicle detects an obstacle in front, the motion control in the x direction is ended and the vehicle is fully braked. The acceleration of the vehicle is adjusted within each time step to enable the speed of the vehicle to be consistent with the chest speed of a human body, and the person and the vehicle start from the moment t1, so that the person and the vehicle can start at the same time and have consistent speeds, and the distance between the person and the vehicle is close in the motion process, and the human body is guaranteed to be in contact with the vehicle body before falling off the ground, so that the falling posture of the human body can be influenced by the moving vehicle body, and the protection on the collision damage of the human body and the ground is realized. And once there are other obstacles in front of the vehicle, meaning that further motion control of the vehicle (which essentially changes the vehicle speed to move the vehicle, person forward together) can lead to other dangerous situations that are unpredictable, when control must be terminated and the vehicle braked at full force.
Preferably, in step S4, the motion control step of the vehicle in the y direction is:
s41: when the condition that e2 is not zero is monitored, a message is sent to the surrounding vehicles to give a clear lane change intention;
s42: when the people and the vehicle are separated from contact, the surrounding environment is monitored, and the transverse motion of the vehicle is controlled according to the following rules on the premise of confirming safety: if e2 is negative, setting the steering angle of the wheels to-15 degrees; if e2 is negative-medium, the steering angle of the wheels is set to-10 degrees; if e2 is negative, setting the steering angle of the wheels to be-5 degrees; if e2 is zero, setting the wheel steering angle to zero; if e2 is positive small, the wheel steering angle is set to 5 °; if e2 is in the middle, setting the steering angle of the wheels to 10 degrees; if e2 is positive, setting the wheel steering angle to 15 °; the vehicle steering angle is positive counterclockwise. Compared with the longitudinal control, the transverse motion control of the vehicle is only carried out after the human-vehicle is out of contact, and the values of the wheel turning angles are large in order to control the position of the vehicle to be in place in a short time. From the view of a driver, when the human body moves leftwards, the vehicle moves leftwards, otherwise, the vehicle moves rightwards, and finally the speed difference between the vehicle and the vehicle is zero, so that the human body and the vehicle body move together in the transverse direction, and the human body can finally fall onto the vehicle body instead of falling onto the ground from the edge of the vehicle body. By controlling the lateral movement position of the vehicle, it is ensured that the human body and the vehicle body contact the center of the vehicle body after step S1 in an optimal state, thereby achieving an optimal vehicle body contact position.
S43: and after the contact of the human and the vehicle is monitored, setting the wheel turning angle to be zero, and finishing the transverse motion control. After the people and the vehicle are contacted, the people and the vehicle can be influenced mutually due to the action of friction force, the transverse motion of the vehicle is controlled at the moment, the speed of the human body in the y direction can be increased, the kinetic energy of the human body obtained from the vehicle body in the whole process can be increased, and the risk of human collision and damage can be increased. This is a dangerous behaviour and therefore the vehicle lateral motion control is only implemented after the human vehicle has left contact.
Preferably, the falling of the human body off the hood in step S5 means that the height of one of the head, the chest and the buttocks of the human body is lower than the height of the front edge of the hood. To prevent a vehicle from rolling the body, the vehicle must be fully braked to stop the vehicle as soon as possible.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that: control to the horizontal, longitudinal motion of vehicle is realized through the simultaneous control to acceleration and wheel corner, guarantees that the human body can fall ground again after dropping on the automobile body to make the vehicle of removal can influence the human body and fall to the ground the gesture, and then effectively protect people ground collision damage.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
the technical solution of the present invention is further described below with reference to examples.
For a smart car, when it detects that a potential collision with a pedestrian is unavoidable, the car is fully braked to a time t1 when the head of the human body first collides with the car body.
And after t1, releasing the vehicle brake, monitoring the moving speeds of the human chest in the x direction and the y direction in real time, and further calculating the difference values e1 and e2 between the human chest speed in the x direction and the y direction and the vehicle moving speed.
In the x direction, when e1 is positive, the vehicle is accelerated, and the acceleration value is 1m/s 2; when e1 is negative, decelerating the vehicle, and taking an acceleration value of-1 m/s 2; when e1 is zero, controlling the acceleration of the vehicle to be zero; when the vehicle detects an obstacle in front, the motion control in the x direction is ended and the vehicle is fully braked.
In the y direction, the motion control steps of the vehicle are as follows:
s41: when the condition that e2 is not zero is monitored, a message is sent to the surrounding vehicles to give a clear lane change intention;
s42: when a person and a vehicle are separated from contact, the surrounding environment is monitored, and on the premise of safety confirmation, the vehicle position is controlled in place in a short time, and the transverse motion of the vehicle is controlled according to the following rules: if e2 is negative, setting the steering angle of the wheels to-15 degrees; if e2 is negative-medium, the steering angle of the wheels is set to-10 degrees; if e2 is negative, setting the steering angle of the wheels to be-5 degrees; if e2 is zero, setting the wheel steering angle to zero; if e2 is positive small, the wheel steering angle is set to 5 °; if e2 is in the middle, setting the steering angle of the wheels to 10 degrees; if e2 is positive, setting the wheel steering angle to 15 °; the vehicle steering angle is positive counterclockwise.
S43: and after the contact of the human and the vehicle is monitored, setting the wheel turning angle to be zero, and finishing the transverse motion control.
Finally, the vehicle is fully braked to rest when the vehicle detects that the height of one of the head, chest or buttocks of the person is below the front edge of the hood of the vehicle.
The invention provides an intelligent vehicle motion control method for protecting human-ground collision damage, when an accident is monitored to be unavoidable, a vehicle is completely braked to a t1 moment when the head of a human body collides with a vehicle body for the first time; then releasing vehicle brake, monitoring the speed of the chest of the human body in the x direction and the speed of the chest of the human body in the y direction in real time, and calculating the speed difference e1 between the chest of the human body and the vehicle body in the x direction and the speed difference e2 in the y direction; then, longitudinal motion control is carried out on the vehicle according to e1, and transverse motion control is carried out on the vehicle according to e2 only after the person and the vehicle are out of contact; when the falling-to-ground surface of the human body is monitored, the vehicle is completely braked to avoid rolling accidents; therefore, the aim of influencing the falling posture of the human body by moving the vehicle and further protecting the human body from collision and injury is fulfilled.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (6)
1. The utility model provides a protection people ground collision damage's intelligent car motion control method which characterized in that: the method comprises the following steps of controlling the longitudinal motion of a vehicle according to the longitudinal speed difference of a human body and a vehicle to ensure the speed of the human body and the vehicle to be consistent, controlling the transverse motion of the vehicle according to the transverse speed difference of the human body and the vehicle only after the human body and the vehicle are separated from contact to ensure that the kinetic energy obtained by the human body from the vehicle body in the whole process is not increased to further increase the risk of human-ground collision injury, and accordingly achieving the purpose of influencing the falling posture of the human body and further protecting the human-ground collision injury by moving the vehicle, wherein the specific implementation steps are as follows:
s1: when the vehicle monitors that the accident is unavoidable, completely braking the vehicle until t1 moment when the head of the human body collides with the vehicle body for the first time;
s2: after t1, releasing the vehicle brake, and monitoring the speed of the chest of the human body in the x direction and the y direction in real time;
s3: calculating the difference e1 between the chest speed of the human body and the speed of the vehicle body in the x direction, and dividing the difference e1 into a positive type, a zero type and a negative type; meanwhile, calculating the difference e2 between the chest speed of the human body and the speed of the vehicle body in the y direction, and dividing the difference e2 into seven types of negative big, negative middle, negative small, zero, positive small, middle and positive big;
s4: controlling the motion of the vehicle in the x direction according to a given rule; and controlling the movement of the vehicle in the y direction according to given steps only after the human-vehicle is out of contact, so as to control the position of the vehicle in place in a short time;
s5: when the vehicle detects that a person is about to fall off the engine hood, the vehicle is fully braked to be stationary.
2. The intelligent vehicle motion control method for protecting human-ground collision damage according to claim 1, characterized in that: in steps S2, S3, and S4, the x direction indicates the vehicle longitudinal direction at the moment of the human-vehicle collision and points to the vehicle forward direction; the y direction is vertical to the x direction and points to the left side of the driver of the vehicle in the instant of collision.
3. The intelligent vehicle motion control method for protecting human-ground collision damage according to claim 1, characterized in that: in step S3, the negative big finger e2< -9km/h, the negative middle finger-9 km/h < e2< -3km/h, the negative small finger-3 km/h < e2<0km/h, the positive small finger 0km/h < e2<3km/h, the middle finger 3km/h < e2<9km/h, and the positive big finger e2>9 km/h.
4. The intelligent vehicle motion control method for protecting human-ground collision damage according to claim 1, characterized in that: in step S4, the control rule of the movement of the vehicle in the x direction is: when e1 is positive, the vehicle is accelerated, and the acceleration value is 1m/s2(ii) a When e1 is negative, the vehicle is decelerated, and the acceleration value is taken as-1 m/s2(ii) a When e1 is zero, controlling the acceleration of the vehicle to be zero; in this process, when the vehicle detects an obstacle in front, the motion control in the x direction is ended and the vehicle is fully braked.
5. The intelligent vehicle motion control method for protecting human-ground collision damage according to claim 1, characterized in that: in step S4, the motion control of the vehicle in the y direction includes:
s41: when the detected e2 is not zero, sending a message to the surrounding vehicles to give a clear lane change intention;
s42: only when the people and the vehicles are separated from contact, the surrounding environment is monitored, and the vehicle position is controlled in place in a short time on the premise of safety confirmation, wherein the rule is as follows: if e2 is negative, setting the steering angle of the wheels to-15 degrees; if e2 is negative-medium, the steering angle of the wheels is set to-10 degrees; if e2 is negative, setting the steering angle of the wheels to be-5 degrees; if e2 is zero, setting the wheel steering angle to zero; if e2 is positive small, the wheel steering angle is set to 5 °; if e2 is in the middle, setting the steering angle of the wheels to 10 degrees; if e2 is positive, setting the wheel steering angle to 15 °; the vehicle steering angle is positive in the counterclockwise direction;
s43: and after the contact of the human and the vehicle is monitored, setting the wheel turning angle to be zero, and finishing the transverse motion control.
6. The intelligent vehicle motion control method for protecting human-ground collision damage according to claim 1, characterized in that: the falling of the human body off the hood in step S5 means that the height of one of the head, chest and buttocks of the human body is lower than the height of the front edge of the hood.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011472165.0A CN112572378B (en) | 2020-12-14 | 2020-12-14 | Intelligent vehicle motion control method for protecting human-ground collision damage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011472165.0A CN112572378B (en) | 2020-12-14 | 2020-12-14 | Intelligent vehicle motion control method for protecting human-ground collision damage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112572378A CN112572378A (en) | 2021-03-30 |
| CN112572378B true CN112572378B (en) | 2022-01-28 |
Family
ID=75135175
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011472165.0A Active CN112572378B (en) | 2020-12-14 | 2020-12-14 | Intelligent vehicle motion control method for protecting human-ground collision damage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112572378B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113650590A (en) * | 2021-09-06 | 2021-11-16 | 长沙理工大学 | Method for protecting human-ground collision damage by only needing few monitoring devices |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760621A (en) * | 2019-03-04 | 2019-05-17 | 长沙理工大学 | A kind of hood and its working method for intelligent automobile protection pedestrian |
| CN109808634A (en) * | 2019-03-05 | 2019-05-28 | 长沙理工大学 | A kind of method and device that human body in high speed accident is fixed on to roof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2804400C2 (en) * | 1978-02-02 | 1982-10-14 | Daimler-Benz Ag, 7000 Stuttgart | Device for holding an accident victim on the front hood of a motor vehicle |
| US9340178B1 (en) * | 2013-12-04 | 2016-05-17 | Google Inc. | Adhesive vehicle front end for mitigation of secondary pedestrian impact |
| DE102014000881A1 (en) * | 2014-01-23 | 2014-08-14 | Daimler Ag | Method for operating vehicle, involves automatically braking vehicle based on release of pedestrian protection device such that person on bonnet of vehicle is carried upto standstill of vehicle according to effected person impact |
| CN104842923B (en) * | 2015-05-20 | 2017-05-24 | 宝鸡吉利汽车部件有限公司 | Active protection system and method thereof for preventing secondary damage of pedestrians |
| JP2017065293A (en) * | 2015-09-28 | 2017-04-06 | ソニー株式会社 | Damage reduction device, damage reduction method, and program |
| KR101782368B1 (en) * | 2015-12-22 | 2017-10-23 | 현대자동차주식회사 | Vehicle and method for controlling the same |
| CN109591754B (en) * | 2019-01-07 | 2021-03-26 | 长沙理工大学 | Method for protecting human-ground collision damage in human-ground collision accident |
| CN109591755B (en) * | 2019-01-14 | 2021-02-19 | 长沙理工大学 | Method for protecting human-ground collision damage of high-speed car |
-
2020
- 2020-12-14 CN CN202011472165.0A patent/CN112572378B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760621A (en) * | 2019-03-04 | 2019-05-17 | 长沙理工大学 | A kind of hood and its working method for intelligent automobile protection pedestrian |
| CN109808634A (en) * | 2019-03-05 | 2019-05-28 | 长沙理工大学 | A kind of method and device that human body in high speed accident is fixed on to roof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112572378A (en) | 2021-03-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104239741B (en) | Based on the automobile driving safe householder method of driving risk field | |
| CN107672626B (en) | Railway vehicle anti-collision system and method based on time interval maintenance | |
| CN105620475A (en) | Intelligent drive system with safety protection function | |
| CN110949378B (en) | Anti-collision rear-end collision method for automobile under high-speed working condition | |
| MX2014008539A (en) | Post-impact path assist for vehicles. | |
| CN106564497A (en) | Apparatus and method of controlling main vehicle | |
| JP2023524574A (en) | A Unified Quantification Method for Driving Risk Comprehensively Considering Each Element of People, Vehicles, and Roads | |
| CN105128857B (en) | A kind of automobile autonomous driving control method and a kind of automobile autonomous driving system | |
| CN105246756A (en) | Vehicle control system | |
| CN112896157A (en) | Defensive driving control method, device and system, vehicle-mounted terminal and storage medium | |
| CN104999983A (en) | Anti-collision method of automobile | |
| CN110232839A (en) | A kind of errant vehicle inducible system and method for the long descending section of mountainous area highway | |
| CN112572378B (en) | Intelligent vehicle motion control method for protecting human-ground collision damage | |
| CN109591755B (en) | Method for protecting human-ground collision damage of high-speed car | |
| DE102019219367A1 (en) | Procedure for regulating a collision | |
| CN108248686A (en) | A kind of emergency braking control method based on four-wheel independent steering driving line traffic control automobile | |
| CN106596121B (en) | A kind of AEBS test simulator and analogy method | |
| EP2750943B1 (en) | Method for a vehicle safety system and corresponding device | |
| CN112606833B (en) | Model prediction control-based intelligent vehicle motion control method for protecting human-ground collision damage | |
| CN112918470B (en) | Intelligent automatic emergency braking method for protecting pedestrians | |
| CN116601064A (en) | A method for controlling a vehicle when an obstacle is detected around the vehicle; control device for a vehicle having an autonomous driving function module; computer readable medium and motor vehicle | |
| CN104290658B (en) | A kind of warning device and method for preceding road detection of unsafe condition | |
| CN112918469B (en) | Automatic emergency braking system with active and passive safety function for pedestrians | |
| CN104875618A (en) | Vehicle safe-driving system with automatic speed limiting based on vehicular sensor | |
| CN112550526A (en) | Intelligent vehicle head design method for protecting human-ground collision damage |
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 |