The invention discloses a lane changing collision avoidance device and method suitable for a high-speed emergency working condition, and relates to the technical field of collision avoidance devices.The front side of the intelligent vehicle is provided with a laser radar and an acquisition camera. The laser radar, the acquisition camera, a collision avoidance path planning module and a minimum safety distance module are connected with an MPC-based transverse controller. The collision avoidance method comprises the steps: acquiring the real-time distance d between a vehicle-mounted sensor anda front obstacle: if the current distance is greater than the critical lane changing safety distance and it is detected that an available collision avoidance lane exists, executing collision avoidancein a lane changing collision avoidance mode when the distance between the vehicle-mounted sensor and the obstacle is close to the critical lane changing safety distance. According to the invention, the safety is improved, the use is convenient, the stability is high, the operation is simple and convenient, and quick collision prevention is convenient to realize; lane changing can be achieved, andthe structure is simple.
本发明公开了一种适用于高速紧急工况的换道避撞装置及其方法,涉及避撞装置技术领域;智能车的前侧分别安装有激光雷达与采集相机,激光雷达、采集相机、避撞路径规划模块、最小安全距离模块均与基于MPC的横向控制器连接;它的避撞方法为:通过车载传感器得到与前方障碍物的实时距离d,若当前距离大于临界换道安全距离,并检测到存在可用避撞车道,当与障碍物距离临近临界换道安全距离时,采用换道避撞模式执行避撞;本发明提高了安全性,使用方便,且稳定性高,操作简便,便于实现快速防撞;能够实现换道,结构简单。
Lane changing collision avoidance device and method suitable for high-speed emergency working condition
一种适用于高速紧急工况的换道避撞装置及其方法
03.11.2020
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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