The invention provides an automatic driving vehicle escape method and computer equipment, and the method comprises the steps: carrying out the accident judgment of a vehicle according to the speed change of the vehicle, i.e., determining that an accident does not occur if the acceleration error between the acceleration at the current moment and the acceleration at the last moment is smaller than the lower limit value of a set threshold range; if the acceleration error is greater than or equal to the upper limit value of the threshold range and the driving speed does not exist, determining that a serious accident occurs; if the acceleration error is within the threshold range and the driving speed exists, determining that a slight accident occurs; determining a steering strategy corresponding to the current accident degree; wherein the steering strategy is used for indicating main wheels, auxiliary wheels and wheel control information; controlling and executing wheel steering operation according to the steering strategy until the vehicle is out of trouble. According to the method, different steering strategies can be intelligently provided to improve the autonomous escape ability of the autonomous vehicle when the autonomous vehicle is trapped in an accident, a secondary accident is avoided in the escape process, and the safety performance of automatic driving is improved.
本发明提供了一种自动驾驶车辆脱困方法及计算机设备,包括:根据车辆的速度变化对车辆进行事故判定,即若当前时刻的加速度和上一个时刻的加速度之间的加速度误差小于设定的阈值范围的下限值,则确定未发生事故;若加速度误差大于或等于阈值范围的上限值且无行驶速度,则确定发生严重事故;若加速度误差在阈值范围内且有行驶速度,则确定发生轻微事故;确定当前事故程度对应的转向策略;其中转向策略用于指示主导车轮、辅助车轮以及车轮控制信息;按照转向策略控制执行车轮转向操作直至车辆脱困。本发明可以智能的提供不同转向策略来提高自动驾驶车辆在出现事故受困时的自主脱困能力,避免脱困过程中出现二次事故,提升自动驾驶的安全性能。
Self-driving vehicle escape method and computer equipment
一种自动驾驶车辆脱困方法及计算机设备
2025-02-11
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Vehicle escape method, device and equipment and automatic driving vehicle
European Patent Office | 2024
|Escape window for self-driving automobile and using method
European Patent Office | 2021
|