The invention provides a self-adaptive obstacle avoidance method for an automatic driving vehicle on an ice and snow covered pavement, and the method comprises the following steps: S1, researching the change conditions of the initial speed of the vehicle and the ground type on a horizontal hard surface, and obtaining the related parameters of self-adaptive obstacle avoidance braking between the vehicle and the pavement; s2, estimating a friction coefficient, cohesion and an internal friction angle according to a vehicle state based on a model estimator; and S3, in the data-driven predictor, predicting and selecting the optimal maneuver based on a linear regression method of an augmented input space, independently predicting the minimum distance d of each maneuver, and estimating the minimum distance of each maneuver in real time, so that the data-driven predictor can decide to carry out the optimal emergency maneuver. The method has the beneficial effect that the accuracy and precision of each intelligent driving vehicle laser radar under the extremely cold condition can be tested. And engineers are helped to design on a future intelligent driving vehicle laser radar sensor algorithm model.

    本发明提供了一种用于冰雪路面下自动驾驶车辆自适应避障方法,包括以下步骤:S1:在水平的坚硬的表面,研究了车辆初始速度和地面类型的变化情况,获得车辆和路面之间的自适应避障制动的相关参数;S2:基于模型估计器,根据车辆状态预估摩擦系数,内聚力和内摩擦角;S3:在数据驱动预测器中,基于增广输入空间的线性回归方法预测,选择最优机动,独立预测每次机动的最小距离d,通过实时估计每次机动的最小距离,从而使数据驱动预测器能够决定进行最优紧急机动。本发明有益效果:以测试每个智能驾驶车辆激光雷达在极寒条件下的准确度和精度。帮助工程师它们的设计到未来的智能驾驶车辆激光雷达传感器算法模型上。


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    Title :

    Self-adaptive obstacle avoidance method for autonomous vehicle on ice and snow covered pavement


    Additional title:

    一种用于冰雪路面下自动驾驶车辆自适应避障方法


    Contributors:
    QI ZHIGANG (author) / WU LIJUAN (author) / SHI JIANXIN (author) / LIU DANDAN (author) / WANG JIEMING (author) / SONG XIANRUI (author) / QU YOUMIN (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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