车辆主动避撞系统控制策略研究  

Research on Control Strategy of Vehicle Active Collision Avoidance System

作　　者：郑苏 段敏[1] 陈天任 ZHENG Su;DUAN Min;CHEN Tian-ren(School of Automobile and Traffic Engineering,Liaoning University of Technology,Jinzhou 121001,China)

机构地区：[1]辽宁工业大学汽车与交通工程学院

出　　处：《辽宁工业大学学报（自然科学版）》2020年第1期26-30,共5页Journal of Liaoning University of Technology(Natural Science Edition)

摘　　要：为了有效避免碰撞或降低碰撞程度,提出了一种车辆纵向分层控制结构基于PID控制理论、最优控制理论以及制动危险指数()的三级制动控制避撞策略。首先基于VTH(Variable Time Headway)算法在CarSim2016软件中搭建了汽车的纵向行驶模型,然后在Matlab/Simulink中搭建了车辆防碰撞工作模式上层控制器和汽车纵向控制的下层控制器。仿真结果表明,该三级制动控制策略在前车低速匀速行驶、主车以多种不同速行驶工况下和前车急减速工况下,主车均能在安全距离内制动至与前车同速,且制动减速度在合理范围内,故该策略能够较好地降低汽车碰撞损失的可能性和减轻驾驶员的不适感。In order to effectively avoid collision or reduce the degree of collision,a three-level brake control collision avoidance strategy based on PID control theory,optimal control theory and braking risk index()is proposed.Firstly,based on VTH(Variable Time Headway)algorithm,the longitudinal driving model of the car was built in CarSim2016 software.Then the upper controller of vehicle anti-collision working mode and the lower controller of vehicle longitudinal control were built in Matlab/Simulink.The simulation results show that the three-stage brake control strategy can be braked at a safe distance under the low speed and constant speed of the preceding vehicle,and under the different driving conditions of the main vehicle and the rapid deceleration of the preceding vehicle.The front car is at the same speed,and the braking deceleration is within a reasonable range.Therefore,the strategy can better reduce the possibility of car collision loss and reduce the driver’s discomfort.

关 键 词：分层控制 纵向建模 控制策略 三级制动 

分 类 号：U461.91[机械工程—车辆工程]