The invention discloses a vehicle active obstacle avoidance control method and system for a dynamic obstacle, and the method comprises the steps: determining the motion characteristic parameters of a potential obstacle in a sensor sensing blind area under different working conditions of a vehicle, and building a kinematics prediction model of the potential obstacle in the sensor sensing blind area based on the motion characteristic parameters, a sensor sensing blind area safety distance model is established based on a plurality of sensor sensing blind areas, a plurality of obstacle movement forms, a plurality of active obstacle avoidance control methods and static obstacles. And determining a vehicle active obstacle avoidance control algorithm of a dynamic obstacle based on the sensor sensing blind area potential obstacle kinematics prediction model and the sensor sensing blind area safety distance model. The method effectively solves or reduces the influence of the sensing blind area of the sensor on the active safety performance of the intelligent automobile to a certain extent, prevents the problem of collision accidents caused by insufficient safety distance due to sudden occurrence of obstacles in the sensing blind area of the sensor, improves the environment sensing capability of the intelligent automobile, and reduces the occurrence rate of rear-end collision accidents.

    本发明公开了一种动态障碍物的车辆主动避障控制方法及系统,包括确定车辆不同工况下传感器感知盲区潜在障碍物的运动特征参数,基于运动特征参数建立传感器感知盲区潜在障碍物运动学预测模型,基于多个传感器感知盲区、多种障碍物运动形式、多种主动避障控制方法及静态障碍物建立传感器感知盲区安全距离模型,以及基于传感器感知盲区潜在障碍物运动学预测模型及传感器感知盲区安全距离模型确定动态障碍物的车辆主动避障控制算法。本发明有效解决或在一定程度上降低传感器感知盲区对智能汽车主动安全性能影响,防止因传感器感知盲区内障碍物的突然出现造成安全距离不足引起碰撞事故的问题,提高智能汽车环境感知的能力,降低追尾碰撞事故发生率。


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    Title :

    Vehicle active obstacle avoidance control method and system for dynamic obstacle


    Additional title:

    一种动态障碍物的车辆主动避障控制方法及系统


    Contributors:
    CHEN PENG (author) / LIU HAIYAN (author)

    Publication date :

    2023-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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