According to the crossroad steering automatic braking method based on the vehicle speed, the function of emergency braking of the vehicle at the crossroad is achieved through segmented calculation TTC of the vehicle speed based on transverse and longitudinal decoupling in combination with an engineering calibration mode. According to the method, the transverse and longitudinal TTC is calculated in a transverse and longitudinal decoupling mode based on relative vehicle speed segmented interpolation; and when the calculated transverse and longitudinal TTC is within the calibrated TTC threshold range representing the collision risk, the collision risk exists. According to the method, scene screening is carried out through simple motion analysis in combination with one-dimensional parameter limitation, accurate risk boundary points are selected through an engineering calibration method, and the scene within the boundary points is smoothed through segmented interpolation based on different relative speeds; the algorithm model is simplified, the software load is reduced, and the accuracy can be improved through a test calibration method. The method is low in hardware and software load and has portability.

    本发明提供了一种基于车速的十字路口转向自动制动方法,基于横纵向解耦的车速的分段计算TTC,结合工程标定的方式,实现了车辆在十字路口的紧急制动的功能。本发明通过基于相对车速分段插值的横纵向解耦的方式计算横纵向TTC;当计算的横纵向TTC处于标定的代表碰撞风险的TTC阈值范围时,表示有碰撞风险。本发明通过简单的运动分析,结合一维的参数限制进行场景筛选,再通过工程标定的方法选取较为准确的风险边界点,在边界点之内的场景则通过基于不同的相对速度进行分段插值进行平滑;即简化了算法模型、降低了软件负载,又可通过试验标定的方法增加准确度。本发明对硬、软件负载不高,具有可移植性。


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    Title :

    Crossroad steering automatic braking system and method based on vehicle speed


    Additional title:

    一种基于车速的十字路口转向自动制动系统和方法


    Contributors:
    XU GE (author) / GAO HANG (author) / HE JIAORONG (author)

    Publication date :

    2023-11-17


    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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