The invention discloses an active collision avoidance method based on multi-sensor position information association matching. The active collision avoidance method comprises the following steps: acquiring driving information of a vehicle and surrounding environment information; front obstacles are classified, and the obstacle with the maximum risk in the expected driving path is preliminarily screened and positioned through a camera; detecting information of surrounding dangerous obstacles by using a radar, and performing standardized Euclidean distance processing on the detected data for association matching; screening the data after the standardized European style processing to obtain information of the most dangerous obstacle detected by a radar; a dynamic double-margin model is established, and the braking force needed by the vehicle is calculated; according to the invention, the radar data closest to the camera estimation parameters are screened by using standardized European style processing, and the radar data with higher precision are adopted, so that the data accuracy of detecting the most dangerous barrier in front is improved; meanwhile, an ETTC strengthening safety distance model and an expected braking deceleration safety distance model are adopted, and more reasonable braking measures are made for a front vehicle.

    本发明公开了一种基于多传感器位置信息关联匹配的主动避撞方法,获取车辆自身行驶信息与周围环境信息;对前方障碍物进行分类,通过摄像头初步筛选定位出预期行驶路径内风险最大的障碍物;利用雷达检测出周围危险障碍物的信息,将检测的数据进行标准化欧几里得距离处理进行关联匹配;将标准化欧式处理后的数据做筛选,得到雷达检测出的该最危险障碍物信息;建立动态双裕度模型,计算出车辆所需的制动力;本发明利用标准化欧式处理筛选得出与摄像头估计参数最为接近的雷达数据,采用精度更高的雷达数据,提高了检测前方最危险障碍物的数据精确性;同时采用ETTC强化安全距离模型与期望制动减速度安全距离模型,针对前车制定了更合理的制动措施。


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    Title :

    Active collision avoidance method based on multi-sensor position information association matching


    Additional title:

    一种基于多传感器位置信息关联匹配的主动避撞方法


    Contributors:
    DI XIAOTAO (author) / YOU PENG (author)

    Publication date :

    2023-10-20


    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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