The invention provides a vehicle active collision avoidance method based on an artificial potential field method, and the method comprises the following steps: obtaining the information of a vehicle and the environment; establishing a vehicle repulsive force artificial potential field model by analyzing information of a vehicle and the environment, and acquiring a virtual repulsive force currently borne by the vehicle; judging whether active collision avoidance needs to be carried out or not through the vehicle visible obstacle repulsive force and the blind area virtual repulsive force; when active collision avoidance is needed, planning an active collision avoidance path by using the artificial potential field model; controlling the collision avoidance by an electronic control unit (ECU) according to the planned path; judging the current driver operation input, and deciding whether the vehicle control right is returned or not. The method is reasonable in structure, good in collision avoidance path planning effect and high in safety.

    本发明提供一种基于人工势场法的车辆主动避撞方法,包括以下步骤,获取车辆自身与环境信息;通过分析车辆自身与环境信息,建立车辆斥力人工势场模型,得到车辆当前所受虚拟斥力;通过车辆可见障碍物斥力以及盲区虚拟斥力判断是否需要进行主动避撞;在需要进行主动避撞时,利用人工势场模型规划主动避撞路径;按照所规划的路径由电子控制单元ECU控制避撞;对当前驾驶员操作输入进行判断,决策是否归还车辆控制权;本发明结构合理,避撞路径规划效果好,安全性高。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Vehicle active collision avoidance method based on artificial potential field method


    Weitere Titelangaben:

    一种基于人工势场法的车辆主动避撞方法


    Beteiligte:
    WANG KEFENG (Autor:in) / XIA JIANQIAO (Autor:in) / YUAN CHAOCHUN (Autor:in) / LI HAIYANG (Autor:in) / OUYANG KANG (Autor:in) / XIONG QIZHI (Autor:in) / YE PENGYU (Autor:in)

    Erscheinungsdatum :

    2021-06-22


    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



    Hierarchical Vehicle Active Collision Avoidance Based on Potential Field Method

    Zeng, Jie / Ren, Yue / Zheng, Ling | British Library Conference Proceedings | 2021


    Hierarchical Vehicle Active Collision Avoidance Based on Potential Field Method

    Zeng, Jie / Zheng, Ling / Ren, Yue | SAE Technical Papers | 2021


    Hierarchical Vehicle Active Collision Avoidance Based on Potential Field Method

    Zeng, Jie / Ren, Yue / Zheng, Ling | British Library Conference Proceedings | 2021


    Hierarchical Vehicle Active Collision Avoidance Based on Potential Field Method

    Yi, Gang / Zheng, Ling / Yang, Wei et al. | SAE Technical Papers | 2019