According to the invention, for a scene where a plurality of unmanned vehicles are deployed, the problem of how to realize automatic and safe overtaking of the rear vehicle to the front vehicle in the process that the unmanned vehicles running at different speeds run in the same direction along the same line is solved. The invention provides an automatic overtaking control algorithm taking the collision probability as a reference value, the collision probability between two vehicles participating in overtaking is dynamically calculated, the control input quantity of the overtaking vehicle is determined by adopting an online optimization method, and automatic overtaking is realized. According to the method, the safety of automatic overtaking of the unmanned vehicle can be guaranteed, and the overtaking time can be shortened.

    本发明针对部署了多辆无人驾驶车辆的场景,解决了以不同速度运行的无人驾驶车辆沿同一线路向同一方向行驶过程中,后车如何对前车实现自动安全超车的问题。本发明给出一种以碰撞概率作为参考值的自动超车控制算法,通过动态计算参与超车的两车之间的碰撞概率,采用在线优化的方法确定超车车辆的控制输入量,实现自动超车。本方法既可保证无人驾驶车辆自动超车的安全性,又可减少超车时间。


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    Titel :

    Automatic overtaking method for unmanned vehicle


    Weitere Titelangaben:

    一种无人驾驶车辆的自动超车方法


    Beteiligte:
    WANG FENGHUI (Autor:in) / GAO YANHE (Autor:in) / FANG XINGHONG (Autor:in) / SUN YUEXIN (Autor:in)

    Erscheinungsdatum :

    2022-01-18


    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



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