Vehicle active collision avoidance method adopting sensor fusion

Abstract

The invention discloses a vehicle active collision avoidance method adopting sensor fusion. The vehicle active collision avoidance method comprises the steps that 1, vehicle travelling information andenvironmental information are obtained; 2, front barriers are classified by combining the vehicle travelling information with lane line information, and the barriers on an expectant travelling routeare screened; 3, information of the barriers obtained in the step 2 is selected, and barrier information having a threat to travelling of a current vehicle is obtained; 4, linear regression predictionis utilized to be combined with sensor information to weight the information of the barriers ahead the vehicle; 5, the braking pressure required by the vehicle is calculated by synthesizing the step4 and the vehicle travelling state information; and 6, the steps 1 to 5 are repeated until the vehicle speed is zero or until a system is shut down. According to the vehicle active collision avoidancemethod, by utilizing weighting processing of linear regression estimation and sensor measurement information, TTC safety distance model and an expected braking acceleration double-margin model, the defect that target barriers are lost when a vehicle body pitches can be eliminated, and the vehicle adapts to active collision avoidance under different speed work conditions better.

Description

technical field [0001] The invention relates to a modeling method for vehicle dynamic emergency longitudinal collision avoidance, belonging to the technical field of driving safety. Background technique [0002] With the rapid growth of car ownership, road traffic safety has become an important issue of concern to governments and societies in various countries. According to a survey by the U.S. National Highway Safety Commission (NHTSA), about 90% of road traffic fatal accidents are caused by driver error, while only about 3% are caused by vehicle failure. The development of advanced vehicle active safety systems is an urgent need for modern road traffic. The important link in the vehicle active safety system is the research and development of the vehicle's active collision avoidance method. The existing active collision avoidance methods are prone to false alarms during vehicle cornering and steering, and are prone to lose target obstacles when the vehicle body pitches, r...

AI Technical Summary

Problems solved by technology

The existing active collision avoidance methods are prone to false alarms during vehicle cornering and steering, and are prone to lose target obstacles when the vehicle body is pitching, resulting in failure of the active collision avoidance method

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