A hierarchical control method for vehicle emergency collision avoidance considering moving obstacles

Abstract

The invention relates to an automobile emergency collision-avoidance layered control method taking moving obstacles into account. The automobile emergency collision-avoidance layered control method taking the moving obstacles into account is characterized by including the steps that through a path dynamic planning module, according to obstacle information, coordinates of target points and automobile driving state information which are collected in real time, a lateral displacement reference value, a yaw angle reference value, a yaw angular velocity reference value and a longitudinal velocity reference value of an expected trajectory are obtained by real-time optimization and are input into a path tracking control module, at the same time, through the path tracking control module, current automobile driving state information is collected, turning angles of front wheels and the slip rate of four wheels of an automobile are obtained by real-time optimization, and the automobile is controlled to avoid collision.

Description

Technical field [0001] The invention relates to the technical field of automobile assisted driving, in particular to a layered control method for automobile emergency collision avoidance considering moving obstacles. Background technique [0002] Cars can bring convenience and speed to people, and their driving safety has become a global social problem. In order to further improve road traffic safety and help drivers reduce wrong operations, in recent years, smart car safety technology represented by Advanced Driver Assistance Systems (ADAS) has gradually gained attention and development. The automobile emergency collision avoidance system assists the driver to adjust the trajectory of the car through the active intervention of the actuator to realize collision avoidance. It can save the lives of drivers and passengers in critical moments and has a good market prospect. [0003] Real-time planning and tracking of a collision-free optimal path is the key to emergency collision avo...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the technical problem that the existing emergency collision avoidance method does not consider the dynamic change of the position of the moving obstacle in the collision avoidance process, which leads to the unsafe and reliable technical problem of the collision avoidance process, the present invention provides a car emergency collision avoidance considering the moving obstacle The layered control method can assist the driver to complete collision avoidance and save the lives of drivers and passengers in an emergency

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