Unmanned racing car braking and steering cooperative collision avoidance control method and system
Unmanned racing car braking and steering cooperative collision avoidance control method and system
- New search for: WANG HONGBO
- New search for: GAO HAN
- New search for: FENG LIZHAO
- New search for: WANG HONGBO
- New search for: GAO HAN
- New search for: FENG LIZHAO
The invention relates to an unmanned racing car braking and steering cooperative collision avoidance control method and system. The method comprises the steps of planning a steering collision avoidance path; designing the longitudinal safety distance of the vehicle during steering collision avoidance; collecting the transverse acceleration and the longitudinal acceleration of the vehicle during steering collision avoidance, and designing the optimal longitudinal acceleration of the vehicle in the collision avoidance process and the maximum transverse acceleration of the vehicle in the collision avoidance process through the particle swarm optimization in combination with the longitudinal safety distance; and when the vehicle is controlled to steer and avoid collision, enabling the executed longitudinal acceleration to be the optimal longitudinal acceleration and the transverse acceleration to be not greater than the maximum transverse acceleration. According to the invention, safe collision avoidance in emergency can be realized, and meanwhile, the stability in the collision avoidance process is ensured.
本发明涉及一种无人驾驶赛车制动与转向协同避撞控制方法及系统，其包括以下步骤：规划转向避撞路径；设计转向避撞时车辆的纵向安全距离；采集转向避撞时车辆的横向加速度和纵向加速度，并结合纵向安全距离，采用粒子群算法设计避撞过程中车辆的最优纵向加速度和避撞过程中车辆最大横向加速度；控制车辆在车辆转向避撞时，执行的纵向加速度为最优纵向加速度和横向加速度为不大于最大横向加速度。本发明能够实现紧急情况下安全避撞，同时保证避撞过程中的稳定性。
Document information
Unmanned racing car braking and steering cooperative collision avoidance control method and system
一种无人驾驶赛车制动与转向协同避撞控制方法及系统
2021-08-17
Patent
Electronic Resource
Chinese
| IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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