考虑道路可用宽度的自适应避撞控制

doi:10.19562/j.chinasae.qcgc.2024.05.015

Abstract

Abstract:

When a vehicle returns to a straight line after avoiding obstacles in emergency collision avoidance， it is prone to loss of control in the form of oversteering. To address this problem， a method for utilizing road space in exchange for improved vehicle stability is proposed in this paper， i.e. adaptive collision avoidance control considering available road width. Firstly， a seven-degree-of-freedom vehicle model and collision avoidance controller based on optimal control and MPC are built. The oversteering runaway condition is replicated by a large number of simulations. The mechanism of oversteering runaway is explored by analyzing the vehicle inputs and states. Then， based on the oversteering runaway mechanism， an adaptive collision avoidance control system is designed considering the available width of the road， which includes parameter adaptive control based on deep neural networks， intervention criteria based on starting speed， and exit time based on the Lyapunov conservative stability region. According to simulations and experiments， the proposed adaptive collision avoidance control strategy can fully utilize the available road width to improve vehicle stability when returning to a straight line after avoiding a collision， accomplishing the goal of avoiding accidents， which corrects the traditional fixed parameter controller's inability to adapt to complex and variable scenarios. Finally， hardware-in-the-loop experiments based on dSPACE verify that the real-time performance of the proposed control strategy can satisfy the collision avoidance requirements in emergencies.

Key words: high-speed collision avoidance, oversteering runaway, adaptive control, available road width, regress stability control

Bing Zhou,Kangqiang Zheng,Ru Wang,Xiaojian Wu,Tian Chai. Adaptive Collision Avoidance Control Considering Available Road Width[J].Automotive Engineering, 2024, 46(5): 893-905.

Figures/Tables 22

$a 0$	$a 1$	$a 2$	$a 3$	$a 4$	$a 5$	$a 6$	$a 7$	$a 8$
1.3	-22.1	1011	1078	1.82	0.208	0	-0.354	0.707
$b 0$	$b 1$	$b 2$	$b 3$	$b 4$	$b 5$	$b 6$	$b 7$	$b 8$
1.65	-21.3	1144	49.6	226	0.069	-0.006	0.056	0.486

工况序号	车速/（m·s^-1）	$X d$ /m	$Y d$ /m
1	20	19.3	2.5
2	25	25.2	2.5
3	30	31	2.5

符号	含义	数值
$m$	汽车质量 $/ k g$	1 550
$I z$	整车横摆转动惯量 $/ (k g ? m 2)$	3 234
$t w$	轮距 $/ m$	1.55
$a$	质心到前轴的距离 $/ m$	1.4
$b$	质心到后轴的距离 $/ m$	1.65
$R$	车轮半径 $/ m$	0.335
$I w$	车轮转动惯量 $/ (k g ? m 2)$	1.8
$H P$	MPC预测时域	8
T	MPC采样时间/s	0.02
$ρ$	MPC松弛因子权重	1 000
$μ$	路面附着系数	0.8

References 23

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Adaptive Collision Avoidance Control Considering Available Road Width

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