The invention relates to a semi-trailer train collision avoidance trajectory planning and tracking control method and system, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining simulation driving data of different drivers; analyzing the simulated driving data based on a preset driving style classifier to determine a driving style; performing analysis based on the driving style and the simulated driving data to determine style driving data corresponding to the driving style; performing analysis based on the style driving data and a preset artificial potential field algorithm to generate a personalized collision avoidance track controller; performing planned path tracking on the semi-trailer train based on a preset MPC algorithm and a personalized collision avoidance trajectory controller; and when the semi-trailer train sends out a collision avoidance signal, the personalized collision avoidance track controller generates a personalized collision avoidance track and indicates the semi-trailer train to avoid collision according to the personalized collision avoidance track. The method has the effect of further improving the driving safety during active collision avoidance of the automobile.

    本申请涉及一种半挂汽车列车避撞轨迹规划与跟踪控制方法、系统,涉及自动驾驶技术领域的领域,其包括:获取不同驾驶人员的仿真行车数据;基于预设的驾驶风格分类器对仿真行车数据进行分析,以确定驾驶风格;基于驾驶风格和仿真行车数据进行分析,以确定驾驶风格所对应的风格行车数据;基于风格行车数据和预设的人工势场算法进行分析,以生成个性化避撞轨迹控制器;基于预设的MPC算法以及个性化避撞轨迹控制器对半挂汽车列车进行规划路径跟踪;当半挂汽车列车发出避撞信号时,个性化避撞轨迹控制器生成个性化避撞轨迹,并指示半挂汽车列车以个性化避撞轨迹进行避撞。本申请具有进一步提高汽车进行主动避撞时的驾驶安全性的效果。


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    Titel :

    Semitrailer train collision avoidance trajectory planning and tracking control method and system


    Weitere Titelangaben:

    一种半挂汽车列车避撞轨迹规划与跟踪控制方法、系统


    Beteiligte:
    REN YI (Autor:in) / ZHANG LEI (Autor:in) / DONG ENGUO (Autor:in) / LIU XIYAO (Autor:in)

    Erscheinungsdatum :

    2024-04-05


    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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