CN111873990A - A lane-changing collision avoidance device suitable for high-speed emergency conditions and method thereof - Google Patents

Abstract

The invention discloses a lane-changing collision avoidance device suitable for high-speed emergency conditions and a method thereof, and relates to the technical field of collision avoidance devices; a laser radar and a collection camera are respectively installed on the front side of a smart car. The collision path planning module and the minimum safe distance module are all connected with the MPC-based lateral controller; its collision avoidance method is: obtain the real-time distance d from the obstacle ahead through the on-board sensor, if the current distance is greater than the critical lane-changing safety distance, and It is detected that there is an available collision avoidance lane, and when the distance from the obstacle is close to the critical lane change safety distance, the collision avoidance mode of lane change is adopted to execute the collision avoidance; the invention improves the safety, is convenient to use, has high stability, and is simple and convenient to operate. Realize fast collision avoidance; can realize lane change, simple structure.

Description

A lane-changing collision avoidance device suitable for high-speed emergency conditions and method thereof

technical field

The invention belongs to the technical field of collision avoidance devices, and in particular relates to a lane change collision avoidance device suitable for high-speed emergency conditions and a method thereof.

Background technique

Existing cars often need to avoid collisions due to emergencies when driving at high speeds, and the existing method is active braking, which may cause insufficient safety distance or slow response when braking, which makes it prone to collisions. A safe collision avoidance device is needed to achieve this.

SUMMARY OF THE INVENTION

In order to solve the existing problems, the purpose of the present invention is to provide a lane-changing collision avoidance device and a method thereof suitable for high-speed emergency conditions.

A lane change collision avoidance device suitable for high-speed emergency conditions of the present invention includes a smart car, a laser radar, a collection camera, a collision avoidance path planning module, a minimum safe distance module, and an MPC-based lateral controller; The lidar and acquisition camera are installed on the side respectively. The lidar, acquisition camera, collision avoidance path planning module, and minimum safe distance module are all connected to the MPC-based lateral controller.

A lane change collision avoidance method suitable for high-speed emergency conditions, and its collision avoidance method is:

Due to the sudden appearance of obstacles and the lack of safe distance, the problem of collision cannot be avoided by braking collision avoidance. The real-time distance d to the obstacle ahead is obtained through the on-board sensor. If the current distance is greater than the critical lane-changing safety distance, the presence of Collision avoidance lanes are available. When the distance from the obstacle is close to the critical lane-changing safety distance, the collision avoidance mode of lane-changing is used to perform collision avoidance;

Calculate the critical lane-changing safety distance according to formula (1):

D _min =(V ₁ -V ₂ )×1.2+d ₀ +Kcos(θ) (1)

In the formula, V ₁ and V ₂ are the speed of the ego vehicle and the obstacle respectively; d ₀ is the safety distance increased by considering the trajectory tracking error and the delay of the controller, which is generally taken from 2 to 5 m and set to 5 m; k is the length of the vehicle body ; θ is the heading angle;

When the distance d=D _min between the ego vehicle and the obstacle ahead, the lane-changing trajectory function is formula (2):

Finally, according to the model prediction controller output steering wheel angle, the vehicle is controlled to follow the lane change trajectory.

Compared with the prior art, the beneficial effects of the present invention are:

1. Improve safety, easy to use, high stability, easy to operate, and easy to achieve rapid collision avoidance;

2. It can realize lane changing, and the structure is simple.

Description of drawings

For ease of description, the present invention is described in detail by the following specific implementations and accompanying drawings.

FIG. 1 is a schematic structural diagram of the present invention.

In the figure: 1-Smart car; 2-Lidar; 3-Acquisition camera; 4-Collision avoidance path planning module; 5-Minimum safe distance module; 6-MPC-based lateral controller.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described below through the specific embodiments shown in the accompanying drawings. It should be understood, however, that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. The structures, proportions, sizes, etc. shown in the drawings in this specification are only used to cooperate with the contents disclosed in the specification for the understanding and reading of those who are familiar with the technology, and are not used to limit the conditions for the implementation of the present invention. Therefore, Without technical substantive significance, any structural modification, proportional relationship change or size adjustment should still fall within the technology disclosed in the present invention without affecting the effect that the present invention can produce and the purpose that can be achieved. content can be covered. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concepts of the present invention.

Here, it should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only the structures and/or processing steps closely related to the solution according to the present invention are shown in the drawings, and the related structures and/or processing steps are omitted. Other details not relevant to the present invention.

As shown in FIG. 1 , this specific implementation adopts the following technical solutions: including a smart car 1, a lidar 2, a collection camera 3, a collision avoidance path planning module 4, a minimum safe distance module 5, and an MPC-based lateral controller 6; intelligent A lidar 2 and a collection camera 3 are respectively installed on the front side of the vehicle 1 . The lidar 2 , the collection camera 3 , the collision avoidance path planning module 4 , and the minimum safe distance module 5 are all connected to the MPC-based lateral controller 6 .

A lane change collision avoidance method suitable for high-speed emergency conditions, and its collision avoidance method is:

Due to the sudden appearance of obstacles and the lack of safe distance, the problem of collision cannot be avoided by braking collision avoidance. The real-time distance d to the obstacle ahead is obtained through the on-board sensor. If the current distance is greater than the critical lane-changing safety distance, the presence of Collision avoidance lanes are available. When the distance from the obstacle is close to the critical lane-changing safety distance, the collision avoidance mode of lane-changing is used to perform collision avoidance;

Calculate the critical lane-changing safety distance according to formula (1):

D _min =(V ₁ -V ₂ )×1.2+d ₀ +Kcos(θ) (1)

In the formula, V ₁ and V ₂ are the speed of the ego vehicle and the obstacle respectively; d ₀ is the safety distance increased by considering the trajectory tracking error and the controller delay, which is generally taken from 2 to 5 m and set to 5 m; k is the length of the vehicle body ; θ is the heading angle.

When the distance d=D _min between the ego vehicle and the obstacle ahead, the lane-changing trajectory function is formula (2):

Finally, according to the model prediction controller output steering wheel angle, the vehicle is controlled to follow the lane change trajectory.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is to be defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the claims. All changes within the meaning and scope of the equivalents of , are included in the present invention.

In addition, it should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (2)

1. The utility model provides a lane change collision avoidance device suitable for high-speed urgent operating mode which characterized in that: the system comprises an intelligent vehicle, a laser radar, a collecting camera, a collision avoidance path planning module, a minimum safe distance module and a transverse controller based on MPC; the front side of the intelligent vehicle is respectively provided with a laser radar and a collecting camera, and the laser radar, the collecting camera, the collision avoidance path planning module and the minimum safe distance module are all connected with a transverse controller based on the MPC.

2. A lane changing collision avoidance method suitable for high-speed emergency working conditions is characterized by comprising the following steps: the collision avoidance method comprises the following steps:

the method comprises the steps that due to the fact that an obstacle suddenly appears, the safety distance is insufficient, the problem that collision cannot be avoided by adopting braking collision avoidance is solved, the real-time distance d between the vehicle-mounted sensor and the front obstacle is obtained, if the current distance is larger than the critical lane changing safety distance, the fact that an available collision avoiding lane exists is detected, and when the distance between the vehicle-mounted sensor and the obstacle is close to the critical lane changing safety distance, collision avoidance is executed in a lane changing collision avoiding mode;

calculating the critical lane change safety distance according to the formula (1):

D_min＝(V₁-V₂)×1.2+d₀+Kcos(θ) (1)

in the formula, V₁、V₂The speeds of the bicycle and the barrier are respectively the speeds of the bicycle and the barrier; d₀In order to take the track tracking error and the increased safety distance caused by the delay of the controller into consideration, 2-5 m is generally taken and set as 5 m; k is the length of the vehicle body; theta is a course angle;

when the bicycle is running and in frontDistance D ═ D of square obstacle_minThen, the track-changing trajectory function is expressed by the following formula (2):

and finally, outputting a steering wheel rotation angle to control the vehicle to follow the lane changing track according to the model prediction controller.

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