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An Optimal Peer-to-Peer Collision Avoidance Method for Autonomous Vehicles

An unmanned vehicle and collision avoidance technology, applied in the field of collision avoidance, can solve the problems of gap, single avoidance method, relying on network security and stability, etc., to achieve the effect of collision avoidance

Active Publication Date: 2022-02-22
幻霄科技(上海)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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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  • An Optimal Peer-to-Peer Collision Avoidance Method for Autonomous Vehicles
  • An Optimal Peer-to-Peer Collision Avoidance Method for Autonomous Vehicles
  • An Optimal Peer-to-Peer Collision Avoidance Method for Autonomous Vehicles

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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 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] like 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 optimal p...

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Abstract

The invention provides an optimal peer-to-peer collision avoidance method for unmanned vehicles. The method first abstracts the vehicle, and then proposes a vehicle optimal peer-to-peer collision avoidance speed set formula; the vehicle follows different collision avoidance methods according to its own environment Processing principle; For multiple vehicles passing through the curve, different collision avoidance logics are selected according to the location of the vehicles. In addition, this method divides the lane for the vehicle at the turn, and proposes corresponding collision avoidance logic according to the position of the vehicle, so as to avoid possible collisions at the turn as much as possible. As an effective support for the advancement of the unmanned vehicle, the invention can effectively avoid possible collisions during the advancement of the unmanned vehicle, and is very suitable for 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 Patents(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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