The invention relates to an active lane changing obstacle avoidance control method based on pavement friction coefficient prediction. Comprising the steps of 1, obtaining a road adhesion coefficient based on vehicle vision; 2, obtaining a road adhesion coefficient based on vehicle dynamics; 3, fusing the road adhesion coefficient based on the vehicle vision and the road adhesion coefficient based on the vehicle dynamics through a weighted average method to obtain a road adhesion coefficient; 4, sensing the environment; 5, determining a lane changing obstacle avoidance decision based on a safe distance model; and 6, controlling and executing a lane changing obstacle avoidance decision. According to the method, sensor data and environment information collected during vehicle driving are analyzed, the road surface visual adhesion coefficient is estimated by using an image processing technology, and the road surface visual adhesion coefficient is combined with a dynamic road surface adhesion coefficient measured by a vehicle sensor, so that a more accurate comprehensive road surface adhesion coefficient is synthesized; the comprehensive road adhesion coefficient is combined with a vehicle dynamics model and a driver intention to predict a possible advancing track of the vehicle in a period of time in the future.

    本发明是一种基于路面摩擦系数预测的主动换道避障控制方法。包括:一、获取基于车辆视觉的路面附着系数;二、获取基于车辆动力学的路面附着系数;三、通过加权平均法将基于车辆视觉的路面附着系数和基于车辆动力学的路面附着系数进行融合得到路面附着系数;四、对环境进行感知;五、基于安全距离模型确定换道避障决策;六、控制执行换道避障决策。本发明通过分析车辆行驶中收集的传感器数据和环境信息,利用图像处理技术估计路面视觉附着系数,并与车辆传感器测定的动力学路面附着系数结合,进而合成一个更为精确的综合路面附着系数,该综合路面附着系数与车辆动力学模型及驾驶员意图相结合,用于预测车辆在未来一段时间内可能的行进轨迹。


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    Title :

    Active lane changing obstacle avoidance control method based on road surface friction coefficient prediction


    Additional title:

    一种基于路面摩擦系数预测的主动换道避障控制方法


    Contributors:
    ZHU BING (author) / ZHAO NANNAN (author) / ZHAO JIAN (author) / WU JIAN (author) / GUO YUNJIAO (author)

    Publication date :

    2024-12-06


    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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