The invention discloses an active obstacle avoidance control method for an intelligent semi-trailer train. The method comprises the following steps: acquiring information of a surrounding environment based on a sensor arranged on the semi-trailer train; performing data preprocessing on the surrounding environment information, and constructing an obstacle contour area around the semi-trailer train based on the preprocessed surrounding environment information; based on the obstacle contour area, a drivable safety area with the semi-trailer train as the center is constructed; establishing an active obstacle avoidance decision model listed by the semi-trailer based on the driving safety area; corresponding control strategies of the semi-trailer train in the longitudinal direction and the transverse direction are obtained based on the active obstacle avoidance decision model; and the longitudinal speed and the transverse moving direction of the semitrailer train are autonomously controlled based on corresponding control strategies listed in the longitudinal direction and the transverse direction of the semitrailer train. In the embodiment of the invention, the intelligent semi-trailer train can be helped to autonomously avoid obstacles in a complex traffic environment, and the driving safety and efficiency are improved.
本发明公开了一种智能半挂汽车列车的主动避障控制方法,所述方法包括:基于设置在半挂汽车列车上的传感器获取周围环境的信息;对周围环境信息进行数据预处理,并基于预处理后的周围环境信息构筑出半挂汽车列车周围的障碍物轮廓区域;基于障碍物轮廓区域构建出以半挂汽车列车为中心的可行驶安全区域;基于可行驶安全区域建立半挂汽车列出的主动避障决策模型;基于主动避障决策模型获得半挂汽车列车在纵向及横向上的对应控制策略;基于半挂汽车列出在纵向及横向上的对应控制策略自主控制半挂汽车列车的纵向速度和横向移动方向。在本发明实施例中,可以帮助智能半挂汽车列车在复杂的交通环境中自主避开障碍物,提高行驶安全性和效率。
Active obstacle avoidance control method for intelligent semi-trailer train
一种智能半挂汽车列车的主动避障控制方法
2023-06-09
Patent
Electronic Resource
Chinese
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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