摘要
针对主动避撞系统采用单一子模式避撞导致避撞效果在不同工况下差异较大甚至避撞失败的问题,提出混合避撞模式协调工作的策略,以提高避撞系统在不同危险工况下的适应性。将临界安全距离作为避撞决策指标:考虑车辆制动过程、避撞轨迹、道路附着系数、障碍物宽度等因素建模,分别对各混合子模式的临界安全距离的确定进行仿真分析。仿真结果表明:根据临界安全距离和临界车速能确定不同子模式的优势区域。雷达与传感器通过实时测得的车障距与主车车速即可判定行车状态,从而采取相应的避撞模式完成有效避撞。另外,与现有方法的对比证明了所提出方法更符合实际情况,体现了其准确性和优越性。
Astrategy of coordinating work of hybrid collision avoidance mode is proposed to improve its adaptability under different dangerous working conditions to solve the problem that the current collision avoidancesystemuses a single sub-mode to avoid collision,which results in great difference in the effect of collision avoidance under different working conditions or even the failure of collision avoidance.Taking critical safety distance as decision index for collision avoidance,thedetermination of critical safety distanceof each mixed sub-modeis simulated and analyzedbased on the modeling of vehicle braking process,collision avoidance trajectory,road adhesion coefficient and obstacle width.The simulation results show that the dominant regions of different sub-modes can be determined according to the critical safety distance and critical speed.The driving statecan be determinedbyradar and sensor by real-time measuring the distance between obstacles and the host vehicle and the speed of the host vehicle,thus taking appropriate mode to achieve effective collision avoidance.In addition,the comparison with the existing methods proves that this method is more in line with the actual situation,reflecting its accuracy and superiority.
作者
罗崇恩
王国林
张树培
张玮
LUO Chong’en;WANG Guolin;ZHANG Shupei;ZHANG Wei(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China)
出处
《重庆理工大学学报（自然科学）》
CAS
北大核心
2020年第12期27-35,共9页
Journal of Chongqing University of Technology：Natural Science
基金
国家重点研发计划项目(2018YFB0106405)
江苏大学高级专业人才科研启动基金项目(13JDG036)。
关键词
主动避撞系统
避撞模式
切换策略
临界安全距离
collision avoidance system
collision avoidance mode
switching strategy
critical safety distance
