汽车工程 ›› 2024, Vol. 46 ›› Issue (6): 985-994.doi: 10.19562/j.chinasae.qcgc.2024.06.005
王国栋1,2,刘立1,孟宇1(),杜海平2,白国星1,顾青1
收稿日期:
2023-11-23
修回日期:
2024-01-10
出版日期:
2024-06-25
发布日期:
2024-06-19
通讯作者:
孟宇
E-mail:myu@ustb.edu.cn
基金资助:
Guodong Wang1,2,Li Liu1,Yu Meng1(),Haiping Du2,Guoxing Bai1,Qing Gu1
Received:
2023-11-23
Revised:
2024-01-10
Online:
2024-06-25
Published:
2024-06-19
Contact:
Yu Meng
E-mail:myu@ustb.edu.cn
摘要:
精确计算不同避撞控制策略的极限避撞距离是自动驾驶汽车避撞决策与控制的基础。为厘清差动制动控制对避撞距离的影响,探究转向和差动制动集成控制的极限避撞能力,提高极限避撞距离的计算精度,本研究基于非线性车辆集成动力学和最优控制理论提出一种自动驾驶汽车极限避撞距离计算方法。首先,建立了非线性 7自由度车辆动力学模型和复合滑移工况的Pacejka轮胎模型。进一步地,基于上述模型构建了极限避撞距离求解问题,并将其转化为最优控制问题。然后,设计了高斯伪谱法将最优控制问题转化为非线性规划问题并求解。最后,分析了转向控制、制动控制、转向和制动集成控制、转向和差动制动集成控制的极限避撞距离,并与基于质点模型计算和CarSim测试的结果进行了对比。结果表明:转向和差动制动集成控制能够进一步减少自动驾驶汽车的避撞距离,显著提高其避撞能力;本研究所提方法能够显著提高极限避撞距离的计算精度和避撞决策结果的可靠性。
王国栋,刘立,孟宇,杜海平,白国星,顾青. 自动驾驶汽车避撞极限研究[J]. 汽车工程, 2024, 46(6): 985-994.
Guodong Wang,Li Liu,Yu Meng,Haiping Du,Guoxing Bai,Qing Gu. Research on Collision Avoidance Limit of Autonomous Vehicles[J]. Automotive Engineering, 2024, 46(6): 985-994.
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