The invention discloses a blind area detection and vehicle speed control method based on vehicle uphill and downhill. The method comprises the steps that 1, acquiring static parameters of a target vehicle; 2, acquiring external environment information of the target vehicle; 3, selecting different decisions according to whether an obstacle is detected or not; 4, if the obstacle is detected, acquiring dynamic parameters of the current target vehicle and the obstacle, and calculating an actual distance S1 and a safe distance S2; if the obstacle is not detected, judging the blind area position according to the static parameters and the dynamic parameters of the target vehicle, and establishing an assumed obstacle model; 5, comparing the actual distance with the safe distance, and controlling the vehicle speed; 6, judging whether climbing is finished; and 7, circulating the steps 1 to 6 until climbing is finished. According to the method, the blind area position during uphill and downhill can be actively judged, safety distance calculation under different risks is carried out through the hypothesis model according to the environment and self dynamic parameters, and the safety of the intelligent driving automobile during uphill and downhill is improved.
本发明公开了一种基于汽车上下坡的盲区检测以及车速控制方法,步骤1,获取目标车辆自身的静态参数;步骤2,获取目标车辆外部环境信息;步骤3,根据是否检测到障碍物,选择不同决策;步骤4,若检测到障碍物则获取当前目标车辆以及障碍物的动态参数并计算实际距离S1及安全距离S2;若未检测到障碍物,则根据目标车辆静态参数及动态参数判断盲区位置,并建立假设障碍物模型;步骤5,比较实际距离与安全距离,控制车速;步骤6,判断爬坡是否结束;步骤7,循环步骤1至6,直至爬坡结束。本发明能够主动判断上下坡时盲区位置,根据环境以及自身动态参数通过假设模型进行不同风险下的安全距离计算,提高了智能驾驶汽车上下坡时的安全性。
Blind area detection and vehicle speed control method based on vehicle uphill and downhill
一种基于汽车上下坡的盲区检测以及车速控制方法
2020-06-05
Patent
Elektronische Ressource
Chinesisch
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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