The invention provides an active safety control method for an unmanned vehicle in an unstructured environment. The method comprises the following steps: acquiring millimeter wave radar detection data and laser radar detection data in a driving process of the unmanned vehicle, and preprocessing the millimeter wave radar detection data and the laser radar detection data; carrying out target detection and matching based on the preprocessed millimeter wave radar detection data and laser radar detection data, and judging whether a target obstacle exists or not; if the target obstacle exists, the relative speed of the target obstacle and the unmanned vehicle and a maneuvering driving path area of the unmanned vehicle are obtained, and a risk area is delimited based on the relative speed and a safe distance threshold value in the maneuvering driving path area; obstacle channel filtering is carried out on the risk area to obtain obstacle information in the risk area; and if the target obstacle exists in the risk area, emergency braking is carried out. The problem that in the prior art, an active safety control method of the unmanned vehicle in a non-structural environment is prone to causing false detection, and consequently practicability is poor is solved.

    本发明提供一种非结构化环境下无人车辆主动安全控制方法:该方法包括:获取无人车辆行驶过程中的毫米波雷达检测数据和激光雷达检测数据,并进行预处理;基于预处理后的毫米波雷达检测数据和激光雷达检测数据进行目标检测及匹配,判断是否存在目标障碍物;若存在目标障碍物,则获取目标障碍物与无人车辆的相对速度,以及无人车辆机动行驶路径区域,基于相对速度和机动行驶路径区域内的安全距离阈值,划定风险区域;对风险区域进行障碍物通道滤波,得到风险区域内障碍物信息;若风险区域内存在目标障碍物,则进行紧急制动。本发明解决了现有技术中无人车辆在非结构环境下的主动安全控制方法易造成误检,导致实用性差的问题。


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    Titel :

    Active safety control method for unmanned vehicle in unstructured environment


    Weitere Titelangaben:

    一种非结构化环境下无人车辆主动安全控制方法


    Beteiligte:
    LI ZHAODONG (Autor:in) / YANG TINGTING (Autor:in) / CHO HEE-JOON (Autor:in) / CUI XING (Autor:in) / ZHOU CHANGYI (Autor:in) / AN XUYANG (Autor:in) / WANG YIQUAN (Autor:in) / YANG YU (Autor:in) / CHEN JIAQI (Autor:in) / ZHENG JIAJIE (Autor:in) ... [mehr]

    Erscheinungsdatum :

    10.12.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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