The invention discloses a multi-vehicle cooperative collision avoidance system and method under an emergency condition. The system comprises a vehicle-to-vehicle communication module, a vehicle-mounted inertial navigation module, a vehicle-mounted GPS module, a vehicle-mounted laser radar module, a vehicle-mounted camera module, a vehicle-mounted millimeter wave radar module, a vehicle perceptionanalysis module, a vehicle driving calculation module, a vehicle electronic control module, a vehicle steering wheel module and a vehicle brake pedal module. Vehicle surrounding environment information is obtained through communication between the vehicle-mounted sensor and the vehicle; a reinforcement learning method is adopted to decide a vehicle emergency collision avoidance strategy, collisionavoidance paths of a plurality of vehicles are planned at the same time, multi-vehicle cooperative collision avoidance in a multi-lane environment is achieved, and the road safety and the reliabilityof an intelligent traffic system are improved.

    本发明公开了一种紧急工况下的多车协同避撞系统及方法,包括:车间通讯模块、车载惯导模块、车载GPS模块、车载激光雷达模块、车载摄像头模块、车载毫米波雷达模块、车辆感知分析模块、车辆驾驶计算模块、车辆电子控制模块、车辆方向盘模块、车辆制动踏板模块;本发明利用车载传感器和车辆间的通讯获取了车辆周围环境信息;采用强化学习方法决策出车辆紧急避撞策略,同时规划多个车辆的避撞路径,实现了多车道环境下的多车协同避撞,提高了道路安全性和智能交通系统的可靠性。


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    Title :

    Multi-vehicle cooperative collision avoidance system and method under emergency condition


    Additional title:

    一种紧急工况下的多车协同避撞系统及方法


    Contributors:
    LIU JINQIANG (author) / ZHAO WANZHONG (author) / ZOU SONGCHUN (author) / WANG CHUNYAN (author) / LIANG WEIHE (author) / ZHANG BO (author) / ZHENG SHUANGQUAN (author) / XU KUNHAO (author) / LUO JIAN (author)

    Publication date :

    2021-01-15


    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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