Collision-prevention control method for vehicle

Abstract

The invention discloses a collision-prevention control method for a vehicle. The speed of the vehicle itself, the accelerated speed of the vehicle itself, the speed of the front car, the accelerated speed of the front car and the information of the spacing between the vehicle itself and the front car are obtained through the environmental perception capacity of the vehicle, and a steering / brake collision-prevention action decision-making mechanism is constructed. If the current vehicle collision risk degree meets the expression shown in the description and the vertical spacing Dadj between thevehicle itself and the front car is not smaller than the minimum vertical spacing DM-Fd between the vehicle itself and the front car, steering collision prevention is conducted; if the current vehicle collision risk degree meets the expression shown in the description or the current road condition does not meet the steering collision prevention condition, vertical brake collision prevention control is conducted. Through the combination of the steering collision prevention and the brake collision prevention control, it is ensured that the brake collision prevention action or the steering collision prevention action which is highest in safety benefit is selected when the vehicle is in danger, the collision-prevention capacity of the intelligent vehicle is greatly improved, and the road traffic safety level is improved.

Description

technical field [0001] The invention belongs to the field of intelligent vehicle control, in particular to a vehicle collision avoidance control method. Background technique [0002] With the continuous increase of the number of vehicles in the world, the problem of road traffic safety is becoming increasingly serious. At the same time, the intelligence level of automobiles continues to improve, and more and more automobiles integrate advanced driver assistance (ADAS) functions, which effectively improve the active safety of vehicles. However, the current collision avoidance control for intelligent vehicles is mostly through the coordinated control of the throttle opening and brake pressure to maintain the inter-vehicle distance and follow the vehicle speed, and insufficient consideration is given to the ride comfort and road adhesion during braking. The few other collision avoidance control systems are based on the lane change collision avoidance trajectory, and the latera...

AI Technical Summary

Problems solved by technology

However, the current collision avoidance control for intelligent vehicles is mostly through the coordinated control of the throttle opening and brake pressure to maintain the inter-vehicle distance and follow the vehicle speed, and insufficient consideration is given to the ride comfort and road adhesion during the braking process.

The few other collision avoidance control systems are based on the lane change collision avoidance trajectory, and the lateral controller is designed for steering collision avoidance control. However, most of them only consider stationary obstacles such as pedestrians, and their application range is limited, which is quite different from the actual driving conditions.

[0003] It can be seen that the current intelligent vehicle collision avoidance control system mostly separates braking and steering for separate research, and fails to realize the collision avoidance potential of braking and steering.

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