RU2012126039A

RU2012126039A - METHOD FOR PREVENTING COLLISION OF A VEHICLE WITH A DYNAMIC OBSTACLE

Info

Publication number: RU2012126039A
Application number: RU2012126039/11A
Authority: RU
Inventors: Константин Алексеевич Палагута; Александр Александрович Алексеев; Ирина Сергеевна Шубникова
Priority date: 2012-06-25
Filing date: 2012-06-25
Publication date: 2013-12-27
Also published as: RU2526144C2

Abstract

Способ предупреждения столкновения транспортного средства с динамическим препятствием, перемещающимся в передней зоне ТС в направлении, пересекающем траекторию движения ТС, согласно которому при помощи полученных и обработанных сигналов ультразвуковых датчиков, лазерного дальномера и информации системы технического зрения оценивается расстояние до перемещающегося препятствия и его скорость передвижения, отличающийсятемчтоопределяются также размеры препятствия по полученным данным и известной скорости движения ТС, а также с учетом сигналов датчиков, контролирующих боковые и заднебоковые зоны ТС, прогнозируют точку нахождения ТС на траектории движения в момент пересечения динамическим препятствием траектории движения ТС и в случае расположения прогнозируемой точки нахождения ТС на траектории движения в прогнозируемой точке пересечения или ее окрестности происходит расчет и выполнение оптимального маневра для предотвращения столкновения ТС с динамическим препятствием и недопущения возникновения новых столкновений ТС с препятствиями, находящимися или движущимися на соседних полосах движения.A method for preventing a collision of a vehicle with a dynamic obstacle moving in the front zone of the vehicle in the direction crossing the vehicle trajectory, according to which using the received and processed signals of ultrasonic sensors, a laser rangefinder and information from the vision system, the distance to the moving obstacle and its speed are estimated, different sizes of obstacles are also determined by the received data and the known vehicle speed, as well as ohms of sensors that control the lateral and posterolateral zones of the vehicle, predict the location of the vehicle on the trajectory at the moment the dynamic obstacle intersects the vehicle trajectory and in the case of the location of the predicted location of the vehicle on the trajectory at the predicted intersection point or its vicinity, the optimal maneuver is calculated and performed to prevent a collision of a vehicle with a dynamic obstacle and to prevent the occurrence of new collisions of a vehicle with obstacles located or moving we infringe on adjacent lanes.

Claims

A method for preventing a collision of a vehicle with a dynamic obstacle moving in the front zone of the vehicle in the direction crossing the vehicle trajectory, according to which using the received and processed signals of ultrasonic sensors, a laser rangefinder and information from the vision system, the distance to the moving obstacle and its speed are estimated, different by,what the dimensions of the obstacle are also determined by the obtained data and the known vehicle speed, as well as taking into account the signals of sensors monitoring the lateral and posterolateral zones of the vehicle, the point of location of the vehicle on the path of movement is predicted at the moment the dynamic path intersects the path of the vehicle and in the case of the location of the predicted location of the vehicle on the trajectory of movement at the predicted intersection point or its vicinity, an optimal maneuver is calculated and performed to prevent the vehicle from colliding with the dynamic skim barrier and prevent the emergence of new vehicle collisions with obstacles located or moving on adjacent lanes.