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Autonomous vehicle following system and control method for minimum safety vehicle interval of autonomous vehicle following system

A control method and the technology of the main control unit, applied in the field of smart vehicles, can solve the problems of increased risk of collision, inability to accurately estimate, and reduced safety distance, so as to overcome hysteresis and failure, ensure stability and robustness, The effect of accurate safety distance estimation

Active Publication Date: 2016-11-16
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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AI Technical Summary

Problems solved by technology

The radar detection accuracy is only ±0.5 meters, which makes it impossible to achieve close-range accurate detection. In addition, the current model estimates the early warning distance and braking intervention distance generally have large errors, and cannot be accurately estimated in real time based on the driver, vehicle braking performance, and driving road conditions. , leading to an increase in the risk of a collision if the safety distance is too small or a reduction in road driving efficiency if the safety distance is too large

Method used

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  • Autonomous vehicle following system and control method for minimum safety vehicle interval of autonomous vehicle following system
  • Autonomous vehicle following system and control method for minimum safety vehicle interval of autonomous vehicle following system
  • Autonomous vehicle following system and control method for minimum safety vehicle interval of autonomous vehicle following system

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Embodiment Construction

[0031] Such as figure 1 As shown, the system includes a millimeter-wave radar for collision avoidance; a front ultrasonic radar sensor; a front target and environment perception camera; bus composition. The forward collision avoidance millimeter-wave radar is used to detect the relative distance, speed and azimuth angle of moving and stationary targets in real time, further judge whether the vehicle is dangerous to go straight and the degree of danger, and whether to collect early warning or brake intervention.

[0032] Two low-cost ultrasonic sensors are installed in front of the vehicle to cooperate with the forward-looking radar and the forward-looking camera to perceive the road environment ahead. At the same time, based on the existing safety distance model, a safety warning distance estimation model and a braking intervention distance are proposed. The estimation model and the closed-loop control model of the minimum safe vehicle distance after braking intervention enab...

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Abstract

The invention discloses an autonomous vehicle following system. The system is provided with a front anti-collision millimeter-wave radar installed in front of a vehicle. The front anti-collision millimeter-wave radar outputs signals to a main control unit through a CAN bus. The main control unit outputs alarm signals to an alarm reminding unit and outputs brake signals to a linear control brake unit. Each of the two sides of the front anti-collision millimeter-wave radar is provided with an ultrasonic radar which outputs signals to an ultrasonic radar control unit. The ultrasonic radar control unit outputs signals to the main control unit through the CAN bus. The autonomous vehicle following system has the beneficial effects that in combination with the low-cost ultrasonic radar, the relative distance of a near-distance target is accurately measured, and the defect that the near-distance measurement error of the millimeter-wave radar is large is overcome.

Description

technical field [0001] The invention relates to the technical field of smart cars, in particular to an autonomous car-following system for a smart car and a minimum safety distance control method thereof. Background technique [0002] With the continuous development of vehicle intelligent technology and users' demand for vehicle intelligent driving, advanced assisted driving of vehicles and intelligent vehicles will be popularized rapidly in the future, bringing a lot of convenience to people's daily life. Among them, the autonomous car-following system can partially replace humans to control the vehicle under high-speed or urban conditions. The current adaptive cruise control system (Adaptive Cruise Control, ACC) can realize autonomous car-following control, and uses 77GHz millimeter-wave radar to detect targets in front in real time. Carry out alarm reminder and brake intervention when danger occurs. The radar detection accuracy is only ±0.5 meters, which makes it imposs...

Claims

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Application Information

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IPC IPC(8): B60R16/023B60Q9/00B60T7/12B60W30/09B60W30/095B60W30/16B60W40/105
CPCB60Q9/008B60R16/0232B60T7/12B60W30/09B60W30/0953B60W30/162B60W40/105B60W2520/10B60W2554/00B60W2554/801B60W2554/804B60W2754/30
Inventor 刘贵如卢桂馥汪军邹姗刘志军刘涛周鸣争章勤郭梦圆
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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