A processing method for coping with irregular objects on the ground through an automatic driving formation vehicle comprises the steps that S1, when the automatic driving formation vehicle runs on a high speed, the current lane suddenly encounters the irregular objects, a forward sensor of a head vehicle recognizes the front irregular objects, and the size is larger than 20 cm * 20 cm * 20 cm, information is synchronized to a rear vehicle through a V2V; s2, when the rear vehicle receives an irregular obstacle in front, an internal algorithm module of the domain controller adjusts the vehicle following distance and decelerates in time, the original vehicle following time interval is set to be tau s, and then the rear vehicle following time interval is adjusted to be tau '= (tau + 1) s; and S3, when the head vehicle turns to change the lane, the rear vehicles translate in the lane at the same time, change the lane and translate after meeting the lane change condition, and avoid obstacles. According to the method, the advantage that formation vehicles can share information to rear vehicles through a V2V (Vehicle Network) is utilized, after a head vehicle detects an irregular object on the ground, the irregular object is sent to the rear vehicles in time, the vehicle following distance is adjusted, and when the head vehicle makes a lane changing behavior, the rear vehicles make lane inside and lane changing transverse movement in advance and avoid obstacles.

    一种自动驾驶编队车辆应对地面不规则物体处理方法,步骤S1.自动驾驶编队卡车在高速上行驶,当前车道突然遇到不规则物体,头车前向传感器识别到前方不规则物体,并且体积大于20cm*20cm*20cm时,通过V2V同步信息至后车;步骤S2.后车接收到前方出现不规则障碍物时,域控制器内部算法模块调整跟车距离及时降速,设原始跟车时距为τs,则调整后跟车时距为τ′=(τ+1)s;步骤S3.在头车打转向进行变道时,后车同时进行车道内平移,满足变道条件后换道平移,躲避障碍物。该方法利用编队车辆可以通过V2V(车辆网)共享信息给后车优势,在头车检测到地面不规则物体后,及时发送给后车,调整跟车距离,在头车做出变道行为时,后车提前做出车道内和换道横移,躲避障碍物。


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    Title :

    Processing method for automatic driving formation vehicle to cope with irregular objects on ground


    Additional title:

    一种自动驾驶编队车辆应对地面不规则物体处理方法


    Contributors:
    ZHANG YANG (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



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