INTELLIGENT VEHICLE SAFETY DRIVING ENVELOPE RECONSTRUCTION METHOD BASED ON INTEGRATED SPATIAL AND DYNAMIC CHARACTERISTICS

摘要

Provided is an intelligent vehicle safety driving envelope reconstruction method on the basis of integrated spatial and dynamic characteristics. Starting from simulating an actual driver's estimation of potential collision risks in the forward driving area, a prediction result of a front vehicle driving behavior is introduced to an environment perception link of the intelligent vehicle; on the basis of the prediction result of the front vehicle driving behavior, a safety driving envelope of the intelligent vehicle is reconstructed by integrating spatial and dynamic characteristics (a safety environment envelope reconstruction and a stable control envelope reconstruction), so as to improve the safety and stability of intelligent vehicle. First, based on the prediction of the front vehicle driving behavior, a lateral and a longitudinal distance between the intelligent vehicle and the front vehicle are corrected, to realize the envelop reconstruction of the safety environment of the intelligent vehicle and to improve the safety of intelligent vehicle. Then, on the basis of the reconstructed safety environment envelope and an dynamical model of the intelligent vehicle, the stable control envelope of the intelligent vehicle is reconstructed, so as to improve the stability of the intelligent vehicle.