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Optimal peer-to-peer collision avoidance method for unmanned vehicle

An unmanned vehicle and collision avoidance technology, applied in the field of collision avoidance, can solve problems such as gaps, dependence on network security and stability, single avoidance means, etc., and achieve the effect of collision avoidance

Active Publication Date: 2021-02-05
幻霄科技(上海)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the Advanced Collision Avoidance (ACA) technology commonly used by self-driving cars is still in its infancy, relying on the network for collision recognition and avoidance, and most of the avoidance methods are simple emergency braking, which is still different from the self-driving cars we envisage. big gap
At present, there are still some problems in ACA technology, which depends on the security and stability of the network, and the avoidance method is single

Method used

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  • Optimal peer-to-peer collision avoidance method for unmanned vehicle
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  • Optimal peer-to-peer collision avoidance method for unmanned vehicle

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Embodiment Construction

[0042] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0043] This embodiment considers that most of the roads can allow up to three vehicles to advance in parallel, image 3The position distribution map of up to three vehicles passing through the left 90° turn at the same time is given.

[0044] Such as figure 1 As shown, an optimal peer-to-peer collision avoidance method for unmanned vehicles in this embodiment includes the following steps:

[0045] Step 1: The abstract processing of the vehicle grows into a rectangle with a width of b, with p as the center of the rectangle, and the vehicle is represented as R(p, a, b);

[0046] Step 2: Calculate the optimal peer-to-peer collision avoidance speed set between vehicles. The...

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Abstract

The invention provides an optimal peer-to-peer collision avoidance method for an unmanned vehicle, and the method comprises the steps: firstly carrying out the abstract processing of the vehicle, andthen proposing an optimal peer-to-peer collision avoidance speed set formula of the vehicle; allowing the vehicle to follow different collision processing principles according to the own environment;for a plurality of vehicles passing through the curve, selecting different collision avoidance logics according to the positions of the vehicles. Besides, the method divides lanes for the vehicles atthe turning position, provides corresponding collision avoidance logic according to the positions of the vehicles, and avoids possible collision at the turning position as much as possible. The deviceserves as an effective support for the advancing of the unmanned vehicle, can effectively avoid possible collision in the advancing process of the unmanned vehicle, and is very suitable for the collision detection and avoidance of the unmanned vehicle.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicle control, in particular to an optimal peer-to-peer collision avoidance method for unmanned vehicles. Background technique [0002] As the future research direction of automobiles, unmanned driving has a profound impact on the automobile industry and even the transportation industry. The advent of driverless cars will liberate human hands, reduce the frequency of traffic accidents, and ensure people's safety. The car of the future is not limited to a means of transportation, but is more about developing towards a new generation of Internet terminals. The driverless car integrates perception, decision-making, control and feedback into one system, realizing the car's driving maneuverability and safety without the driver. The motion behavior of an unmanned vehicle is divided into three levels: action selection, steering, and movement, where the steering behavior is described by the geometric...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/01G08G1/16B60W30/08B60W40/00
CPCG08G1/0125G08G1/0137G08G1/166B60W30/08B60W40/00
Inventor 高天寒张温玉
Owner 幻霄科技(上海)有限公司
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