The invention relates to an intelligent network connection vehicle collision early warning control method. The method comprises a distance detection step, an obstacle avoidance strategy determination step and an obstacle avoidance execution step. In the obstacle avoidance strategy determination step, the braking safety distance Db and the lane changing safety distance Ds of the vehicle are determined according to the vehicle speed, and Dmax = max (Db, Ds) and Dmin = min (Db, Ds) are recorded; if Dgt; dmax, normal driving is carried out, and vehicle obstacle avoidance does not need to be executed; if D is smaller than or equal to Dmax and larger than or equal to Dmin, an obstacle avoidance mode needs to be adopted, if Dmin is equal to Db, braking obstacle avoidance is adopted, and if Dmin is equal to Ds, lane changing obstacle avoidance is adopted. According to the intelligent networked vehicle collision early warning control method, a combined obstacle avoidance mode combining lane changing obstacle avoidance and braking obstacle avoidance is provided based on effective detection of the obstacle distance, and the method is particularly used for self-organized collision avoidance of unmanned systems in specific scenes such as unmanned mine cars. Especially, the advantages of the inter-vehicle communication system are fully utilized, the effectiveness of collision avoidance can still be improved when collision cannot be avoided under general conditions, and the safety boundary of the system can be improved.
本发明涉及智能网联车辆碰撞预警控制方法,包括距离探测步骤、避障策略确定步骤以及执行避障步骤。避障策略确定步骤根据车速确定车辆的制动安全距离Db,变道安全距离Ds,记Dmax=max(Db,Ds),Dmin=min(Db,Ds);若D>Dmax,正常行驶,不需要执行车辆避障;若D≤Dmax且D≥Dmin,则需要采取避障模式,其中,若Dmin=Db,采用刹车避障,若Dmin=Ds,采用变道避障。本智能网联车辆碰撞预警控制方法基于对障碍物距离的有效探测提供了结合了变道避障与刹车避障的组合避障模式,尤其使用于无人矿车等特定场景内的无人系统的自组织碰撞规避。尤其是充分运用了车间通信系统的有利优势,在一般情况下不能规避碰撞时,仍然能够提高碰撞规避的有效性,能够提高系统的安全边界。
Intelligent network connection vehicle collision early warning control method
智能网联车辆碰撞预警控制方法
2024-08-02
Patent
Electronic Resource
Chinese
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 |
European Patent Office | 2021
|Vehicle collision early warning method and vehicle control system
European Patent Office | 2021
|