自动驾驶制动控制方案的研究  

Study on vehicle braking plans for automatic driving

作　　者：张卫钢[1] 刘静[1] 边耀璋[2] 

机构地区：[1]长安大学信息工程学院 [2]长安大学汽车学院,西安710064

出　　处：《计算机应用研究》2009年第11期4215-4217,共3页Application Research of Computers

摘　　要：为了保证车辆在自动驾驶过程中安全、平稳、可靠地实施自动制动控制,应用最优化方法中的非线性规划理论,以控制制动时间最短、保证乘员最舒适为约束条件,对车辆制动控制行为进行了精确的数学建模;并使用MATLAB优化工具箱进行仿真计算,得出了在初速度分别为30km/h、60km/h、90km/h和120km/h时的车辆在200m定长距离下以刹车次数、刹车时间、刹车间隔为参数的自动制动控制方案。仿真结果表明,在30～90km/h的低、中速情况下,通过间歇刹车,车辆可以平稳、安全地驻车在200m处;而对于120km/h以上的高速情况,在200m内车辆无法按间歇制动模式平稳、舒适地停住。该方案为设计自动驾驶制动控制系统提供了理论依据,具有较高的应用价值。In order to guarantee the braking of a vehicle with safe, smooth and reliable during automatic driving of it, this paper studied automatic braking technology to a vehicle by the unlinear programming theory of the optimize method. The accurate mathematics control model of the vehicle braking was made for taking the shortest braking time and making passenger to more comfortable, moreover, was emulated by the toolbox from MATLAB. Some control plans taken different baking frequency, braking time and obtained braking interval for automatic braking in given 200 m distance and initial velocities such as 30,60,90 and 120 kilos per hour. The results indicat that the vehicle can stop at 200 m smoothly and safely with intermittence braking under initial velocities 30 -90 km/h, but can＇ t do comfortably within 200 m under initial velocities 120 km/h and above. The obtained measures can provide the theory foundation for designing of an automatic braking control system, and have a high application value.

关 键 词：车辆工程 自动驾驶 制动 MATLAB 自动控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]