The invention discloses a multi-vehicle cooperative collision avoidance method and apparatus. The multi-vehicle cooperative collision avoidance method comprises: 1) braking conditions of moving vehicles are monitored by the moving vehicles themselves; 2) when the braking condition of a certain vehicle exceeds a setting braking threshold value, the vehicle is set as the first vehicle and the vehicles after the first vehicle are set as back vehicles; otherwise returning to the step 1); 3) the information that the first vehicle is set as the first vehicle is sent to the back vehicles by the first vehicle; 4) each of the back vehicles sends its vehicle condition information to the first vehicle after receiving the information from the first vehicle; 5) the first vehicle makes a centralized planning of braking accelerations for the back vehicles after receiving the vehicle condition information of the back vehicles, and sends the expected accelerations to the corresponding back vehicles; 6) each of the back vehicles receives the expected acceleration and performs control to its own vehicle according to the expected acceleration; and 7) the control is stopped if the back vehicle stops; otherwise returning to the step 4). By use of the provided method and apparatus, the braking space between each vehicle in a braking vehicle queue is effectively used to perform control, the uniform distribution of relative location of vehicles is realized, and thus collision is effectively avoided or collision damage degree is effectively reduced and the ride comfort during braking is improved.
Multi-vehicle cooperative collision avoidance method and apparatus
10.02.2016
Patent
Elektronische Ressource
Englisch
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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