基于行驶状态估计的车车协同纵向安全距离模型  

Collaborative Vehicles Longitudinal Safety Distance Model Based on Driving State Estimation

作　　者：潘勇[1,2] 唐自强[3] 龚贤武[4] 唐超[4] 王玮琳[4] 

机构地区：[1]长安大学信息工程学院,陕西西安710064 [2]智能交通技术交通行业重点实验室,北京100088 [3]长安大学汽车学院,陕西西安710064 [4]长安大学电子与控制工程学院,陕西西安710064

出　　处：《公路交通科技》2016年第7期137-144,共8页Journal of Highway and Transportation Research and Development

基　　金：国家自然科学基金项目(51507013);中央高校基本科研业务费专项基金项目(2014G1321040;310822151025;310822153201);国家级大学生创新创业训练计划项目(201510710036);陕西省自然科学基础研究计划项目(2014JQ7269)

摘　　要：针对提高车车协同下车辆纵向避撞系统的性能,提出了基于车辆行驶状态估计的车车协同纵向避撞安全距离模型。首先,通过建立考虑车辆前、后轴中点位置的汽车运动学模型以及车辆行驶状态参数估计的状态方程,采用扩展卡尔曼滤波方法实现车辆行驶状态的准确估计。接着在车辆状态参数准确估计的基础上,针对前车运动状态,分别建立了基于车车协同下前车静止、前车匀速行驶以及前车减速制动下的车辆纵向避撞系统的安全距离模型。并基于Matlab/Simulink搭建了汽车行驶状态估计以及纵向避撞系统安全距离模型的仿真平台。仿真结果证明了车辆行驶状态估计的准确性以及纵向避撞安全距离模型的有效性。In order to improve the performance of vehicle longitudinal collision avoidance system under collaborative vehicles condition,the collaborative vehicles longitudinal safety distance model based on vehicle driving state estimation is proposed. First,through the establishment of the automobile kinematics model which considers the vehicle front and rear axles＇ centre positions and state equation of vehicle driving state parameter estimation,the accurate estimation of vehicle driving state is realized using the extended Kalman filtering method. Then,based on the accurate estimation of vehicle driving state parameters,according to the front vehicle motion state,the vehicle longitudinal safety distance models based on collaborative vehicles under the conditions of static front vehicle,front vehicle driving in constant speed and deceleration braking are built. The simulation platform for vehicle state estimation and longitudinal collision avoidance system safety distance model are built based on Matlab / Simulink. The Simulation result verified the accuracy of vehicle driving state estimation and the effectiveness of longitudinal collision avoidance safety distance model.

关 键 词：汽车工程 纵向避撞 状态估计 安全距离模型 扩展卡尔曼滤波 车车协同 

分 类 号：U491.255[交通运输工程—交通运输规划与管理]