The invention discloses an automatic driving vehicle emergency collision avoidance decision-making and trajectory planning method and system and a vehicle, and relates to the technical field of intelligent vehicle decision-making and planning. The emergency braking and emergency lane changing safety distance is accurately determined based on the sensed speed and road adhesion coefficient of the automatic driving vehicle and the position and motion state of the obstacle, and the emergency braking and emergency lane changing of the automatic driving vehicle can be effectively controlled, so that high-safety emergency collision avoidance can be realized; on the premise that collision avoidance conditions and vehicle dynamics constraints are met, traffic safety in the lane changing process is guaranteed to a great extent, and then the problems that in the prior art, the influence of normal driving vehicles on a side lane on decision making of a main vehicle is not fully considered, and accurate modeling is not conducted on the longitudinal safety distance needed by emergency lane changing are solved.

    本发明公开一种自动驾驶车辆紧急避撞决策与轨迹规划方法、系统及车辆,涉及智能车辆决策与规划技术领域。本发明通过基于感知的自动驾驶车辆的速度和路面附着系数以及障碍物的位置和运动状态精确确定紧急制动、紧急换道安全距离,能够对自动驾驶车辆的紧急制动和紧急换道进行有效控制,以能够实现高安全性紧急避撞,在满足避撞条件及车辆动力学约束的前提下极大程度地保证了换道过程中的交通安全,进而解决现有技术存在的未充分考虑旁车道正常行驶车辆对主车决策的影响、未对紧急换道所需纵向安全距离进行精确建模等问题。


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    Title :

    Emergency collision avoidance decision-making and trajectory planning method and system for autonomous vehicle, and vehicle


    Additional title:

    自动驾驶车辆紧急避撞决策与轨迹规划方法、系统及车辆


    Contributors:
    ZHANG LEI (author) / WANG ZHENPO (author) / WANG MINGQIANG (author)

    Publication date :

    2023-05-02


    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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