The invention discloses an automatic driving automobile collision avoidance control method based on cooperative game, which comprises the steps of 1, detecting a surrounding environment through vehicle-mounted sensing equipment, judging whether an obstacle exists around or not, and if not, continuing to detect; 2, in combination with the obstacle position information obtained in the step 1, selecting a series of safe trajectory points by an automatic driving automobile, fitting the trajectory points through a Bezier curve so as to generate a collision avoidance trajectory; 3, enabling the automobile to decelerate to the safe collision avoidance speed; 4, implementing nonlinear robust trajectory tracking control, and inhibiting the influence of curvature radius change on the tracking performance; and 5, after the collision avoidance process is completed, switching the vehicle to the self-adaptive cruise state. Based on a cooperative game framework, the stability and the tracking performance are respectively associated with adjustable parameters of the controller, so that robust trajectory tracking control considering the stability is realized.

    本发明公开一种基于合作型博弈的自动驾驶汽车避撞控制方法,包括步骤1、通过车载传感设备检测周围环境,判断周围是否存在障碍物,若不存在则继续检测;步骤2、结合步骤1中获取障碍物位置信息,自动驾驶汽车选择一系列安全的轨迹点,并利用贝塞尔曲线拟合这些轨迹点,从而生成避撞轨迹步骤3、车辆减速至安全避撞车速;步骤4、实施非线性鲁棒轨迹跟踪控制,抑制曲率半径变化对跟踪性能的影响;步骤5、完成避撞过程后,车辆切换至自适应巡航状态。本发明基于合作型博弈的框架,把稳定性、跟踪性能分别与控制器可调参数关联,从而实现兼顾稳定性的鲁棒轨迹跟踪控制。


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    Title :

    Automatic driving automobile collision avoidance control method based on cooperative game


    Additional title:

    一种基于合作型博弈的自动驾驶汽车避撞控制方法


    Contributors:
    HUANG JIN (author) / HU ZHANYI (author) / YANG ZEYU (author) / JIANG KUN (author) / YANG DIANGE (author) / ZHONG ZHIHUA (author)

    Publication date :

    2020-10-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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