The invention relates to a roadway emergency braking scene control decision-making method based on perception fusion, belongs to the technical field of intelligent driving in a well industrial and mining scene, solves the problems that in the prior art, a vehicle in a well industrial and mining field is insufficient in environment perception capability and cannot effectively avoid obstacles, and comprises the steps that S0, in the well industrial and mining scene, through a vehicle-mounted sensor of a vehicle SV, the vehicle-mounted sensor of the vehicle SV is connected with the vehicle-mounted sensor of the vehicle SV; the vehicle-mounted information communication equipment OBU performs information exchange V2X between the vehicle and the outside to obtain parameter information; the method comprises the following steps: S1, acquiring deceleration information of a front shielded vehicle TV1, and predicting a response behavior of an adjacent front vehicle TV2; s2, information exchange V2X between the vehicle and the outside is carried out through OBU (on-board unit), deceleration information of the adjacent front vehicle TV2 is obtained, and the relative vehicle distance between the vehicle SV and the adjacent front vehicle TV2 is predicted; and S3, determining a control decision and outputting a control signal on the basis of a result of the above steps under the condition of receiving a deceleration signal of the blocked vehicle in front.
本发明涉及一种巷道紧急制动场景基于感知融合控制决策方法,属于井工矿场景下智能驾驶技术领域,解决了现有技术中井工矿场中车辆对环境感知能力不足,无法有效避障的问题,包括:步骤S0,在井工矿场景下,通过本车SV的车载传感器,以及车载信息通讯设备OBU进行车辆对外界的信息交换V2X,获得参数信息;步骤S1,获得前方被遮挡车辆TV1的减速信息,对紧邻前车TV2的反应行为进行预测;步骤S2,通过车载信息通讯设备OBU进行车辆对外界的信息交换V2X,获得紧邻前车TV2的减速信息,对本车SV与紧邻前车TV2之间的相对车距进行预测;步骤S3:基于以上步骤的结果,收到前方被遮挡车辆减速信号的情况下,确定控制决策,输出控制信号。
Control decision-making method based on perception fusion in roadway emergency braking scene
巷道紧急制动场景基于感知融合控制决策方法
2024-12-20
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 |
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