Study On Algorithm For Local Lane Depature Warning System Based On Vehicular Radar

With the rapid development of economy and technology,people’s living standard has been greatly improved.The demands for best life services are increasing,Safe,convenient and comfortable travelling is becoming a dominant trend.From the point of view of assistant or automatic driving,an automatic strategy algorithm for automatic emergency braking and security of automatic driving based on the emergency braking system was studied.Based on the assistant driving and the primary automatic driving system,a corresponding hardware was designed.With good timely control performance,the electrical car is undoubtedly the best option compared with those traditional petrol vehicles.Comprehensive consideration of telecommunication and network,an ideal model build integrated by a laser radar,a millimeter-wave radar,a ultrasonic radar and a video camera,equipped with high-performance accessories of the industrial computer for computing and a high-performance MCU for controlling.Taking account of three levels in the order of data acquisition,processing,responding,the corresponding interaction of environmental perception,decision-making and behavior-controlling should be designed,and an algorithm for automatic emergency braking and algorithm for automatic driving decision was studied.The main work is as follows:1.Taking characteristics of existing formulas into consideration,three factors were focused as system delay,acceleration and safety distances,a set of new unified formula was given as automatic emergency braking algorithm based on distance.Various schemes ware test,the feasibility and effectiveness of the given algorithm has been proven.2.Considering the characteristics of local path in a closed area or zoom,an algorithm for decision in automatic driving– vehicle center decision was designed,more effectiveness of making lane changing and obstacle avoidance was proved under the limited conditions test.3.Owing to the success of automatic emergency braking and automatic lane changing and obstacle avoidance test,it is proved that the given security algorithms can meet the requirement of security and effectiveness.