The invention relates to the technical field of pilotless automobiles, in particular to a pilotless automobile active collision avoidance algorithm based on pedestrian trajectory prediction, and solves the problem that collision avoidance modes in the prior art comprise longitudinal braking collision avoidance and transverse steering collision avoidance. The problems that longitudinal braking collision avoidance has the problems that braking force on the two sides of a vehicle is unbalanced and the braking distance is lengthened under certain road surface conditions, the safe distance of steering collision avoidance is short, and even dangers such as oblique collision and rollover exist during emergency steering, and a single collision avoidance mode has certain limitation under certain working conditions are solved. A driverless car active collision avoidance algorithm based on pedestrian trajectory prediction comprises the steps that the driverless car counts the possibility of collision in various running states according to a human collision avoidance control strategy or simulation platform test data. Under the condition that the stability of the vehicle is guaranteed, collision accidents of the vehicle are effectively prevented, and the driving safety of the pilotless automobile is improved.

    本发明涉及无人驾驶汽车技术领域,尤其涉及基于行人轨迹预测的无人驾驶汽车主动避撞算法,解决了现有技术中避撞方式包括纵向制动避撞和横向转向避撞,纵向制动避撞在某些路面条件下会出现车辆两侧制动力不平衡和制动距离变长的问题,转向避撞的安全距离较短,可是,紧急转向时存在着斜碰、侧翻等危险,单一避撞方式在某些工况下存在一定局限性的问题。基于行人轨迹预测的无人驾驶汽车主动避撞算法,包括无人驾驶汽车根据人类避撞控制策略或仿真平台测试数据,统计出各种运行状态下发生碰撞的可能性。本发明在保证车辆稳定性的条件下,有效防止车辆发生碰撞事故,提高无人驾驶汽车的行车安全性。


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    Title :

    Pilotless automobile active collision avoidance algorithm based on pedestrian trajectory prediction


    Additional title:

    基于行人轨迹预测的无人驾驶汽车主动避撞算法


    Contributors:
    CAI JIAN (author)

    Publication date :

    2022-10-25


    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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