The invention relates to an emergency avoidance method, a safety controller, a vehicle and a control method. The method comprises the following steps: S1, establishing a vehicle model; s2, deriving a potential function based on the APF; two basic elements of the potential function are a finite long line charge and an infinite long line charge; s3, calculating system potential energy by placing a charged self-carrier in a potential field constructed by surrounding obstacles; s4, minimizing the potential energy of the system based on the MPC without violating vehicle dynamics and actuator limitations; s5, decomposing the obstacle vehicles into a plurality of subsystems according to the number of the obstacle vehicles; with the self-vehicle as a reference, the relative position of the obstacle vehicle and the self-vehicle is calculated, and a subsystem is constructed; s6, the self-vehicle begins to move from the initial state until the distance between the self-vehicle and the surrounding obstacles is not reduced; if there is no collision during this period, the own vehicle successfully avoids the collision. The emergency avoidance method has the advantage that damage caused by vehicle collision can be reduced to the maximum extent.

    本发明涉及一种紧急避让方法、安全控制器、车辆及控制方法,包括步骤:S1:建立车辆模型;S2:基于APF推导得出势函数;所述势函数的两个基本元素是有限长线电荷和无穷长线电荷;S3:通过将带电的自我载体放置在周围障碍物构造的势场中来计算系统势能;S4:基于MPC在不违反车辆动力学和执行器限制的情况下最小化系统的势能;S5:根据障碍车的数量将其分解为多个子系统;以自我车辆为参考,计算障碍车与自我车辆的相对位置,构建子系统;S6:自我车辆将从初始状态开始移动,直到自我车辆与周围障碍物之间的距离保持不减少;如果在此期间没有发生碰撞,自我车辆成功地避免了碰撞。优点在于:该紧急避让方法可以最大程度的减轻车辆碰撞带来的伤害。


    Access

    Download


    Export, share and cite



    Title :

    Emergency avoidance method, safety controller, vehicle and control method


    Additional title:

    一种紧急避让方法、安全控制器、车辆及控制方法


    Contributors:
    SHANG XU (author) / ESKANDARIAN AZIM (author)

    Publication date :

    2024-01-19


    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



    EMERGENCY AVOIDANCE METHOD, SAFETY CONTROLLER, VEHICLE, AND CONTROL METHOD

    SHANG XU / AZIM ESKANDARIAN | European Patent Office | 2025

    Free access



    Emergency vehicle avoidance system and avoidance method

    YANG ZHI | European Patent Office | 2021

    Free access

    Vehicle emergency collision avoidance coordination control method comprehensively considering safety and stability

    WU GUANGQIANG / WEN GAOBO / LI ZEFAN | European Patent Office | 2023

    Free access