The invention discloses an emergency collision avoidance method and system for an intelligent vehicle, and the method comprises the steps: an automatic driving function unit plans a vehicle reference track according to a vehicle driving task, and obtains the information of obstacles around the vehicle; the autonomous collision avoidance system designs a danger evaluation function and a heuristic obstacle Lyapunov function according to the relative distance between the autonomous collision avoidance system and the obstacle, and directly obtains the vehicle expected yaw angle fused with the active collision avoidance function accordingly. Path tracking and active collision avoidance are converted into specific response values of an actuator by means of an existing vehicle yaw angle tracking algorithm and in combination with a specific vehicle model; and finally, an active collision avoidance function is realized through precise response of the vehicle bottom plate actuator. According to the method, the active safety of the vehicle can be effectively improved, due to the analytic property of the method, the algorithm is low in calculation cost and easy to implement in loading, and the method has high engineering application value.

    本发明公开了一种智能车辆紧急避撞方法与系统,该方法包括:自动驾驶功能单元根据车辆行驶任务,规划车辆参考轨迹并获取车辆周边障碍物信息;自主避撞系统根据与障碍物相对距离设计危险评估函数及启发式障碍李雅普诺夫函数,并以此直接获取融合主动避撞功能的车辆期望横摆角。借助已有车辆横摆角跟踪算法,并结合具体车型,将路径跟踪及主动避撞转化为执行器具体响应值;最后,通过车辆底盘子执行器精密响应,实现主动避撞功能。本发明能有效提升车辆主动安全性,方法的解析性使得该算法计算代价小且易于装车实现,具有较大的工程应用价值。


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    Title :

    Intelligent vehicle emergency collision avoidance method and system


    Additional title:

    一种智能车辆紧急避撞方法与系统


    Contributors:
    ZHANG JUNZHI (author) / HAN JINHENG (author) / HE CHENGKUN (author) / ZHANG JUNFENG (author)

    Publication date :

    2023-05-30


    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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