The invention discloses an obstacle avoidance control method suitable for a drive-by-wire four-wheel steering automobile. The obstacle avoidance control method comprises the steps that firstly, the road adhesion coefficient, the gradient, the automobile speed, the yaw velocity and the distance between the automobile and a front automobile or a pedestrian or an obstacle are obtained through a sensor; 2, determining the environment complexity Ce of the current vehicle and a comprehensive obstacle avoidance mode judgment index Evd; and 3, controlling the vehicle to enter a corresponding obstacle avoidance mode according to the environment complexity and the comprehensive obstacle avoidance mode. According to the obstacle avoidance control method suitable for the drive-by-wire four-wheel steering automobile, the automobile obstacle avoidance environment decision obstacle avoidance mode is comprehensively considered, corresponding automatic obstacle avoidance behaviors are carried out, and a driver is prompted to intervene when necessary, so that the obstacle avoidance safety of the automobile is improved.

    本发明公开了一种适用于线控四轮转向汽车的避障控制方法,包括:步骤一、通过传感器获取路面附着系数、坡度、车速、横摆角速度、本车与前方车辆、行人或障碍物的距离;步骤二、确定当前本车的环境复杂度Ce和综合避障模式判断指数Evd:步骤三、根据环境复杂度和综合避障模式控制车辆进入相应的避障模式。本提供的适用于线控四轮转向汽车的避障控制方法综合考虑汽车避障环境决策避障模式,进行相应的自动避障行为,必要时提示驾驶员介入,以提高汽车的避障安全性。


    Access

    Download


    Export, share and cite



    Title :

    Obstacle avoidance control method suitable for drive-by-wire four-wheel steering automobile


    Additional title:

    一种适用于线控四轮转向汽车的避障控制方法


    Contributors:
    FU YAO (author) / XIE RENMIN (author) / ZHENG HONGYU (author) / LEI YULONG (author) / LIU KE (author)

    Publication date :

    2023-10-03


    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



    Corner control system suitable for drive-by-wire four-wheel steering intelligent automobile

    ZHENG HONGYU / CHEN CHAONING / JIN LIQIANG et al. | European Patent Office | 2022

    Free access

    Four-Wheel Steering of an Automobile in an Obstacle Avoidance Maneuver

    Gunn, L. A. / Mikulcik, E. C. / Carleton University | British Library Conference Proceedings | 1993


    Automobile wheel steering structure for drive-by-wire four-wheel steering

    WANG XU / ZHANG ZAICHANG / ZUO MENG | European Patent Office | 2023

    Free access

    A four wheel active steering system for obstacle avoidance system

    Ohkawa, K. / Abe, M. / Kano, Y. et al. | British Library Conference Proceedings | 2006