The invention discloses a steering and braking cooperative vehicle obstacle avoidance system and method, and the system comprises a vehicle sensing unit which is used for obtaining the relative distance S, angle and speed between a vehicle and a front vehicle in real time when the speed of the vehicle is greater than a set threshold speed; a collision risk judgment unit which is used for judging whether a collision risk exists between the vehicle and a right ahead vehicle according to the information acquired by the vehicle sensing unit; a driver sensing unit which is used for detecting driving control information of the driver when the collision risk judgment unit judges that the collision risk exists; a planning control unit which is used for integrating the perception fusion information output by the vehicle perception unit and the driver control information output by the driver perception unit to make an obstacle avoidance decision; and a vehicle execution unit which is used for driving related mechanisms to control the vehicle to perform automatic braking or automatic steering according to the obstacle avoidance decision result. According to the system, the auxiliary direction of the ADAS system is determined according to the response of the driver facing the risk, and the use experience of the ADAS system is optimized.

    本发明公开了一种转向和制动协同的车辆避障系统及方法,该系统包括:车辆感知单元,用于当车辆车速大于所设定的阈值速度时,实时获取本车于前车之间的相对距离S、角度和速度;碰撞风险判断单元,用于车辆感知单元获取的信息,判断车辆与正前方车辆是否存在于碰撞风险;驾驶员感知单元,用于当碰撞风险判断单元判断存在碰撞风险时,检测驾驶员的驾驶控制信息;规划控制单元,用于综合车辆感知单元所输出的感知融合信息以及驾驶员感知单元输出的驾驶员控制信息进行避障决策;车辆执行单元,用于根据避障决策结果驱动相关机构控制车辆进行自动制动或自动转向。本发明根据驾驶员在面临风险时的反应,决定ADAS系统辅助方向,优化了ADAS系统的使用体验。


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    Titel :

    Steering and braking coordinated vehicle obstacle avoidance system and method


    Weitere Titelangaben:

    一种转向和制动协同的车辆避障系统及方法


    Beteiligte:
    GAO HANG (Autor:in) / LIANG JUN (Autor:in) / XU GE (Autor:in)

    Erscheinungsdatum :

    2021-04-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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