CN114889589A - 一种智能汽车转向与制动协同避撞控制***及方法 - Google Patents
一种智能汽车转向与制动协同避撞控制***及方法 Download PDFInfo
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- CN114889589A CN114889589A CN202210750503.5A CN202210750503A CN114889589A CN 114889589 A CN114889589 A CN 114889589A CN 202210750503 A CN202210750503 A CN 202210750503A CN 114889589 A CN114889589 A CN 114889589A
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- vehicle
- collision avoidance
- lateral acceleration
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000001133 acceleration Effects 0.000 claims abstract description 78
- 230000008859 change Effects 0.000 claims abstract description 20
- 238000004364 calculation method Methods 0.000 claims abstract description 19
- 230000004888 barrier function Effects 0.000 claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 19
- 238000012549 training Methods 0.000 claims description 12
- 230000002452 interceptive effect Effects 0.000 claims description 11
- 238000012360 testing method Methods 0.000 claims description 9
- 238000013528 artificial neural network Methods 0.000 claims description 8
- 230000005284 excitation Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 4
- 238000004422 calculation algorithm Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 230000000452 restraining effect Effects 0.000 claims description 2
- 231100000817 safety factor Toxicity 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 229910052731 fluorine Inorganic materials 0.000 description 1
- 125000001153 fluoro group Chemical group F* 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/109—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
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CN202210750503.5A CN114889589A (zh) | 2022-06-29 | 2022-06-29 | 一种智能汽车转向与制动协同避撞控制***及方法 |
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CN202210750503.5A CN114889589A (zh) | 2022-06-29 | 2022-06-29 | 一种智能汽车转向与制动协同避撞控制***及方法 |
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CN114889589A true CN114889589A (zh) | 2022-08-12 |
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CN202210750503.5A Pending CN114889589A (zh) | 2022-06-29 | 2022-06-29 | 一种智能汽车转向与制动协同避撞控制***及方法 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115817423A (zh) * | 2022-12-27 | 2023-03-21 | 交通运输部公路科学研究所 | 营运车辆车路协同精准制动控制***及方法 |
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2022
- 2022-06-29 CN CN202210750503.5A patent/CN114889589A/zh active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115817423A (zh) * | 2022-12-27 | 2023-03-21 | 交通运输部公路科学研究所 | 营运车辆车路协同精准制动控制***及方法 |
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Inventor after: Wang Peng Inventor after: Zhang Guodong Inventor after: Xu Xing Inventor after: Wang Xu Inventor after: Shen Jiong Inventor after: Wang Qiugui Inventor after: Zuo Gongzheng Inventor after: Gong Xiaoqing Inventor after: Mei Xu Inventor after: Geng Guoqing Inventor after: Yang Liang Inventor after: Xu Hui Inventor after: Li Zhong Inventor after: Zhang Jia Inventor after: Li Chun Inventor after: Xu Yihang Inventor after: Liu Wei Inventor before: Geng Guoqing Inventor before: Zhang Guodong Inventor before: Xu Xing Inventor before: Wang Xu Inventor before: Shen Jiong Inventor before: Wang Qiugui Inventor before: Zuo Gongzheng Inventor before: Gong Xiaoqing Inventor before: Mei Xu Inventor before: Wang Peng Inventor before: Yang Liang Inventor before: Xu Hui Inventor before: Li Zhong Inventor before: Zhang Jia Inventor before: Li Chun Inventor before: Xu Yihang Inventor before: Liu Wei |
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