A secondary collision avoidance control method of an autonomous vehicle includes: selecting, by an autonomous driving controller, a collision candidate vehicle based on sensor signals, estimating, by the autonomous driving controller, a moving path of the autonomous vehicle using the sensor signals, upon determining that collision of the autonomous vehicle with the collision candidate vehicle occurs, estimating, by the autonomous driving controller, secondary collision occurrence probabilities of the autonomous vehicle with the other vehicles, upon determining that the autonomous vehicle breaches an adjacent lane, confirming, by the autonomous driving controller, positions of additional collision candidate vehicles traveling in the lane breached by the autonomous vehicle, and calculating safety distances between the autonomous vehicle and the additional collision candidate vehicles, and controlling, by the autonomous driving controller, steering, driving torque, and braking torque of the autonomous vehicle so as to move the autonomous vehicle to a virtual safety area.
SECONDARY COLLISION AVOIDANCE CONTROL METHOD OF AUTONOMOUS VEHICLE
2025-01-30
Patent
Electronic Resource
English
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 |
European Patent Office | 2021
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