摘要
针对智能车安全距离模型和避撞策略过于单一等问题,提出了一种复杂工况下的车辆制动与转向协调避撞策略。根据前车的行驶情况,划分为4种驾驶模式,考虑避撞系统时滞、路面附着系数和车速的影响,建立了纵向安全距离模型;同时在转向避撞策略中,根据目标车道前后方车辆的驾驶状态,考虑前车宽度以及转向后安全间距的因素,建立了转向避撞的安全距离模型;对于较高车速、较短车距的工况,设计了先制动后转向的安全距离模型。通过不同临界安全距离,设计了一种制动与转向多模式下的车辆避撞决策逻辑。结果表明,车辆在3种不同的复杂工况下,都能选择合适的避撞策略,充分提高了车辆的避撞能力。
Aiming at the problem that the safety distance model and the collision avoidance strategy of intelligent vehicles are too simple,this paper proposes a coordinated collision avoidance strategy of vehicle braking and steering under complex working conditions.Firstly,a vehicle system model is constructed based on the three-degree-of-freedom dynamic model combined with the magic tire formula.The advantages and disadvantages of common safety distance models are compared and analyzed,and the optimization is carried out on their basis.For the longitudinal braking mode,four longitudinal safety distance models are established based on different driving states of the vehicle in front;For the lateral lane change mode,a minimum longitudinal distance model for critical collision is established based on the driving state of the front and rear vehicles in the target lane and the safety constraints when the vehicle changes the lanes.For the collaborative collision avoidance mode,a collaborative collision avoidance safety distance model is established based on the vehicle’s high-speed lane-changing extreme conditions.The selection of different collision avoidance modes of the vehicle is based on critical distance division of the safety distance model under different working conditions,and finally a switching collision avoidance strategy that satisfies certain constraints is constructed.In the selection of lane-changing trajectory planning methods,factors such as trajectory error,trajectory curvature and vehicle dynamics constraints of different lane-changing trajectory methods are analyzed,and a quintic polynomial is selected as the reference trajectory for lane-changing.The maximum lateral acceleration of the planned trajectory and the limit value of the side slip angle of the center of mass are determined,and the planned trajectory curve is more in line with the driving trajectory during steering and collision avoidance.Secondly,based on the design of the vehicle collision avoidance controller,the longitudinal control of the
作者
李根
王晓佳
张东光
孙玉盾
蒋蕴泓
任鑫帅
LI Gen;WANG Xiaojia;ZHANG Dongguang;SUN Yudun;JIANG Yunhong;REN Xinshuai(College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China)
出处
《重庆理工大学学报（自然科学）》
CAS
北大核心
2023年第4期64-76,共13页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金项目(51805356)
山西省科技厅重大专项中重卡燃料电池项目(20181102009)。
关键词
智能车
临界安全距离
避撞策略
仿真实验
longitudinal braking
steering lane change
safety distance model
trajectory planning
trajectory tracking
