公开(公告)号：US12128893B2

公开(公告)日：2024-10-29

申请号：US18396745

申请日：2023-12-27

Applicant: University of Science and Technology Beijing

Inventor： Jingliang Duan ,  Liming Xiao ,  Junjie Zhao ,  Guangyuan Yu ,  Xuan Li ,  Chen Huang ,  Fei Ma

IPC: B60W30/095 ,  B60W60/00

CPC classification number: B60W30/0956 ,  B60W60/0015 ,  B60W2540/18 ,  B60W2556/10

Abstract: An intervention-based shared control method and apparatus in forward collision avoidance scenario of autonomous vehicle includes: acquiring vehicle state data of the autonomous vehicle and inputting the vehicle state data into a constructed forward collision avoidance control model to obtain an optimal nominal collision avoidance trajectory of the autonomous vehicle; and acquiring steering input data of a driver in controlling the autonomous vehicle, and obtaining the shared control method in the forward collision avoidance scenario of the autonomous vehicle. The present disclosure proposes a vehicle model decoupling method for control solution and risk prediction in a high-velocity forward collision avoidance scenario.