The invention discloses an automatic emergency steering control method considering driver comfort. The method comprises the steps that a vehicle-mounted sensor obtains vehicle information, and a camera, a millimeter wave radar and an angle radar sensor obtain dangerous target information of three lanes in front; judging the dangerous target with the minimum TTC, the minimum relative longitudinal distance or the minimum relative transverse distance as a main dangerous target according to the dangerous target information arbitration, and outputting the information of the main dangerous target; planning a path cluster according to the position of the vehicle by combining a quintic polynomial and a scattering point method, and screening out an optimal path through collision inspection; according to the vehicle information, longitudinal speed planning is carried out, and an optimal longitudinal speed curve is planned; for the optimal path, far and near preview points are adopted, steady-state yaw velocity gain processing is adopted for the far point, PID control is adopted for the near point, and a final steering wheel turning angle is obtained through superposition; and aiming at the optimal longitudinal speed planning curve, calculating by adopting a feedforward and feedback combined method to obtain a final expected acceleration.
本发明公开了一种考虑驾驶员舒适性的自动紧急转向控制方法,包括步骤:车载传感器获取自车信息,摄像头,毫米波雷达和角雷达传感器获取前方三车道危险目标信息;根据危险目标信息仲裁判断TTC最小,相对纵向距离最小或相对横向距离最小的危险目标作为主危险目标,并且输出主危险目标的信息;根据自车位置,结合五次多项式和撒点的方法,规划出路径簇,经过碰撞检查,筛选出最优路径;根据自车信息,进行纵向速度规划,规划最优纵向速度曲线;针对最优路径采用远近预瞄点,远点采用稳态横摆角速度增益处理,近点采用PID控制,叠加得到最终的方向盘转角;针对最优纵向速度规划曲线,采用前馈和反馈结合的方法计算得到最终的期望加速度。
Automatic emergency steering control method considering comfort of driver
一种考虑驾驶员舒适性的自动紧急转向控制方法
14.02.2025
Patent
Elektronische Ressource
Chinesisch
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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