基于制动转向协同控制的智能车紧急避障研究*

doi:10.19562/j.chinasae.qcgc.2019.04.006

Abstract

Abstract: In order to enable vehicles to change lane quickly and steadily to avoid obstacles in emergencies, this paper combines vehicle longitudinal with lateral control. Considering the stability problems that may be caused by restrictions of road adhesion conditions in an emergency braking steering process of obstacle avoidance. Ideal longitudinal force and lateral force allocation based on Hamilton energy function is added to the planning process of emergency obstacle avoidance, and a steady state prediction with dynamic correction driver model is built to track the desired path of the planning. Then, a three-degree-of-freedom vehicle dynamics model is built by using Matlab/Simulink and the distribution of ideal longitudinal force and lateral force is validated by hardware in-loop test based on Carsim and Labview. The simulation results show that the distribution of the calculated force distribution law can make the vehicle drive to the adjacent lane in a relatively short period of time and longitudinal distance under the condition of emergency braking and steering to avoid obstacles. Finally, a vehicle test is carried out to verify the effectiveness of the proposed method.

Key words: intelligent vehicle, emergency obstacle avoidance, ideal longitudinal and lateral force, path segmentation, path tracking

Wang Qidong, Li Yinxiang, Chen Wuwei, Zhao Linfeng , Xie Youhao. A Research on Emergency Obstacle Avoidance of Intelligent Vehicle Based on Braking and Steering Coordinated Control[J].Automotive Engineering, 2019, 41(4): 395-403.

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A Research on Emergency Obstacle Avoidance of Intelligent Vehicle Based on Braking and Steering Coordinated Control

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