The invention discloses an automatic emergency steering path planning method and system considering collision time, and belongs to the technical field of driving safety. Comprising the following steps: 1, acquiring driving information of a vehicle; 2, acquiring driving information of a front obstacle vehicle; 3, acquiring information of a current lane and an adjacent lane, and constructing a steerable driving area; 4, TTC is calculated, if the TTC is lower than a threshold value, turning process parameters based on the TTC are constructed, the initial time and the end time are set, and under the same time interval, a quintic polynomial curve is used for conducting point scattering planning on the emergency turning path of the vehicle; and 5, constructing a constraint function according to scattering point planning, and screening the planned paths from multiple directions such as transverse distance, passing time, transverse acceleration and the like to select an optimal path. According to the method, the automobile can avoid the emergency collision working condition through the automatic emergency steering path in time in the driving process, and the driving safety coefficient of the automobile is remarkably improved. The provided path planning can accurately realize automatic steering active collision avoidance of the automobile.

    本发明公开了一种考虑碰撞时间的自动紧急转向路径规划方法及系统,属于行车安全技术领域。包括如下步骤:1、获取自车行车信息;2、获取前方障碍物车辆行车信息;3、获取当前车道和相邻车道信息,构建可转向行驶区域;4、计算TTC,若TTC低于阈值,构建基于TTC的转向过程参数,设定初始和终点时间,同等时间间隔下,利用五次多项式曲线对车辆的紧急转向路径进行撒点规划;5、根据撒点规划,构建约束函数,从横向距离、通行时间和横向加速度等多个方向对规划路径进行筛选,选出最优路径。本发明能够使汽车在行车过程中及时通过自动紧急转向路径规避紧急碰撞工况,显著提高汽车行驶安全系数。提出的路径规划能够精确实现汽车的自动转向主动避撞。


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    Title :

    Automatic emergency steering path planning method and system considering collision time


    Additional title:

    一种考虑碰撞时间的自动紧急转向路径规划方法及系统


    Contributors:
    WANG TONG (author) / YUAN CHAOCHUN (author) / CAI YINGFENG (author) / HE YOUGUO (author) / WENG SHUOFENG (author) / WU XINKAI (author)

    Publication date :

    2024-09-06


    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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