不同紧急工况下的汽车主动避撞控制的研究*

doi:10.19562/j.chinasae.qcgc.2020.12.006

摘要/Abstract

摘要： 本文中针对复杂工况提出了一种集成主动制动和主动转向的紧急避撞策略。首先根据车速与地面附着系数,结合制动与转向安全距离模型,获得考虑前方障碍影响的转向与制动优先级。在此基础上,针对旁车道的其他交通要素,又将转向优先下的避撞模式细分为转向、制动和转向加制动3种。对于转向避撞,采用五次多项式进行路径规划,根据安全性和平滑性代价函数,综合优选出安全、平滑的期望路径,然后采用前馈加LQR反馈控制实现路径跟踪。通过驾驶员在环仿真验证所提出主动避撞算法的有效性。3种典型工况下的试验结果表明,智能汽车能根据不同紧急工况做出合理避撞模式决策,并能顺利完成转向、制动和转向加制动的主动避撞操作。与Sigmoid函数所生成的路径相比,基于五次多项式的规划路径更适合紧急避撞使用。

关键词: 智能汽车, 紧急避撞, 路径规划, 路径跟踪, 驾驶员在环仿真

Abstract: An emergency collision avoidance strategy integrating active braking and active steering is proposed for complex conditions in this paper. Firstly, according to the vehicle speed and road adhesion coefficient and combining with the braking and steering safety distance model, a steering and braking priority that considers the effect of frontal obstacles is obtained. Based on this and in view of the other traffic factors in the side lane, the collision avoidance mode under steering priority is further subdivided into three types: steering, braking and steering plus braking. For collision avoidance by steering, a fifth-degree polynomial is used for path planning. Based on the safety and smoothness cost functions, an optimal safe and smooth desired path is comprehensively selected, and then achieving path tracking by using feedforward and LQR feedback control. A driver-in-the-loop simulation is conducted to verify the effectiveness of the active collision avoidance algorithm proposed. The test results under three typical operating conditions show that the intelligent vehicle can make reasonable decision on collision avoidance mode according to different emergency operating conditions, and can successfully complete the active collision avoidance operations of steering, braking and steering plus braking. Compared with the path generated by Sigmoid function, the planned path based on the fifth-degree polynomial is more suitable for emergency collision avoidance

Key words: intelligent vehicle, emergency collision avoidance, path planning, path tracking, driver-in-the-loop simulation

裴晓飞, 李朋, 陈祯福, 过学迅. 不同紧急工况下的汽车主动避撞控制的研究^*[J]. 汽车工程, 2020, 42(12): 1647-1654.

Pei Xiaofei, Li Peng, Chen Zhenfu, Guo Xuexun. Research on Active Collision Avoidance Control of Vehicles Under DifferentEmergency Conditions[J]. Automotive Engineering, 2020, 42(12): 1647-1654.

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不同紧急工况下的汽车主动避撞控制的研究^*

Research on Active Collision Avoidance Control of Vehicles Under DifferentEmergency Conditions

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