The invention discloses an automatic driving collision avoidance decision-making method, which comprises the following steps of: detecting and acquiring relative distances between a vehicle and obstacles and speeds of the obstacles by using a sensing system loaded on the vehicle, and acquiring the speed of the vehicle through a vehicle speed sensor; the safety level of the current driving state is judged according to the longitudinal driving safety coefficient, a collision avoidance decision-making mechanism is made by comparing the relative distance between the two vehicles, the braking critical distance, the lane changing willingness value and the like, and the optimal collision avoidance scheme is selected according to the calculated decision-making mechanism to be output to an execution system and updated in real time till the collision avoidance process is completed. According to the method, overall planning is carried out for different working conditions, the optimal collision avoidance behavior mode is given, the safety of the automatic driving vehicle is guaranteed, the design is reasonable, and the method is simple and easy to implement.

    本发明公开了一种自动驾驶的避撞决策方法,包括以下步骤:利用装载在车辆上的感知系统实施探测并采集自车与各个障碍物的相对距离与以及障碍物的速度,通过车速传感器获取自车速度,根据纵向行驶安全系数判断当前行驶状态安全等级,通过对比两车相对距离、制动临界距离、换道意愿值等制定避撞决策机制,根据计算出的决策机制选择最优避撞方案输出给执行系统并实时更新,直至完成避撞过程。本发明针对不同工况进行统筹规划,给出最优的避撞行为方式,保障自动驾驶车辆安全,而且设计合理、方法简单、容易实现。


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    Title :

    Collision avoidance decision-making method for autonomous vehicle


    Additional title:

    一种自动驾驶车辆的避撞决策方法


    Contributors:
    WU BO (author) / JIN GANG (author)

    Publication date :

    2022-11-29


    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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