The invention discloses a vehicle automatic emergency braking system and method based on a prediction reference line coordinate system, and the system comprises an input module, a self-vehicle track prediction module, an obstacle track prediction module, a collision detection module, an obstacle risk degree evaluation module, a decision module, and an output module which are in mutual signal connection. The method comprises the following steps: firstly, predicting a self-vehicle moving track and an obstacle moving track according to self-vehicle driving data and obstacle position and shape information, mapping to a reference line coordinate system, calculating whether the obstacle collides with the self-vehicle, and evaluating the obstacle with the highest risk degree as an obstacle avoidance target; and finally, outputting the brake enabling signal to a self-vehicle executing mechanism. According to the present vehicle state, the moving trajectory of the vehicle is predicted, the reference line coordinate system is constructed, and the vehicle and the obstacle are mapped to the coordinate system, so that the method is suitable for distance distortion caused by curvature change at the curve, the obstacle avoidance condition is realized by combining the longitudinal deceleration and transverse steering modes of the vehicle, and the optimal obstacle avoidance opportunity is better judged.
本发明公开了一种基于预测参考线坐标系的车辆自动紧急制动系统与方法,包括相互信号连接输入模块、自车轨迹预测模块、障碍物轨迹预测模块,碰撞检测模块、障碍物危险度评估模块、决策模块、输出模块,首先根据自车行驶数据和障碍物位置及形状信息预测自车运行轨迹和障碍物运动轨迹并映射到参考线坐标系下,计算障碍物是否会与自车发生碰撞,并评估危险度最高的障碍物作为避障目标。最终将制动使能信号输出到自车执行机构。本发明根据当前自车状态,预测自车的运行轨迹,以此构建参考线坐标系,将自车和障碍物映射到此坐标系下,从而适用弯道处曲率变化带来的距离扭曲,综合自车纵向减速和横向转向方式实现避障条件,更好判断最佳避障时机。
Vehicle automatic emergency braking system and method based on predicted reference line coordinate system
基于预测参考线坐标系的车辆自动紧急制动系统与方法
2021-12-28
Patent
Electronic Resource
Chinese
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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