The invention discloses a vehicle steering collision avoidance time determination method and device, equipment and a medium, and relates to the technical field of automatic driving, and the method comprises the steps: determining a current steering acceleration based on a current longitudinal driving speed and a preset steering acceleration of a vehicle; the longitudinal relative speed of the vehicle and the target vehicle at the longitudinal collision moment is predicted, and the longitudinal safe passing time is determined based on the longitudinal safe distance and the longitudinal relative speed needed by steering collision avoidance of the vehicle; determining the transverse displacement of the target vehicle in the longitudinal safe passing time based on the current transverse driving speed and acceleration of the target vehicle; determining an actual transverse distance required by self-vehicle steering collision avoidance by using the transverse safety distance and the transverse displacement required by self-vehicle steering collision avoidance; and determining the steering collision avoidance time of the vehicle based on the current transverse running speed and transverse running acceleration of the vehicle, the current steering acceleration, the actual transverse distance and the displacement information of the target vehicle at the longitudinal collision moment. According to the scheme, the steering collision avoidance performance is improved.
本申请公开了一种车辆转向避撞时间确定方法、装置、设备及介质,涉及自动驾驶技术领域,包括:基于自车的当前纵向行驶速度和预设转向加速度确定出当前转向加速度;预测自车和目标车在纵向碰撞时刻的纵向相对速度,基于自车转向避撞需要的纵向安全距离和纵向相对速度确定出纵向安全通过时间;基于目标车当前的横向行驶速度和加速度确定出目标车在纵向安全通过时间内产生的横向位移;利用自车转向避撞需要的横向安全距离和横向位移确定自车转向避撞需要的实际横向距离;基于自车当前的横向行驶速度和横向行驶加速度以及当前转向加速度、实际横向距离和目标车在纵向碰撞时刻的位移信息确定自车的转向避撞时间。上述方案提高了转向避撞性能。
Vehicle steering collision avoidance time determination method and device, equipment and medium
一种车辆转向避撞时间确定方法、装置、设备及介质
08.12.2023
Patent
Elektronische Ressource
Chinesisch
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