基于可拓控制的智能车换道避撞系统研究  

Research on Lane-changing Collision Avoidance System of Intelligent Vehicle Based on Extension Control

作　　者：袁朝春[1] 孙彦军 YUAN Chaochun;SUN Yanjun(Automotive Engineering Research Institute,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学汽车工程研究院,江苏镇江212013

出　　处：《重庆理工大学学报（自然科学）》2020年第9期29-38,共10页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(51775247)。

摘　　要：为提高智能车的换道避撞能力,以五次多项式为基础,建立了考虑路面附着、智能车和障碍物的纵向距离和道路的利用效率的换道避撞模型。为保证智能车对规划路径的跟踪能力,引入可拓理论来对智能车在不同行驶工况下进行切换控制,在低速高附着工况下采用预瞄PID控制,在保证跟踪精度的条件下,提高避撞实时性。在高速低附着工况下采用MPC控制,通过约束控制保证车辆避撞的安全性。利用Matlab/Car Sim建立联合仿真环境,分别在低速高附着路面与高速低附着路面两种典型工况下对智能车的换道避撞路径跟踪进行仿真验证。结果表明:通过可拓算法对智能车在不同工况下的路径跟踪进行切换控制,在保证跟踪精度的前提下,提高了智能车在低速高附着工况下的换道跟随求解实时性和高速低附着工况下的车辆稳定性。In order to improve the lane avoidance ability of intelligent vehicle,based on the fifthdegree polynomial,this paper establishes a lane avoidance model that considers road surface adhesion,longitudinal distance of intelligent vehicle and obstacles,and road utilization efficiency.At the same time,in order to ensure the tracking ability of the intelligent vehicle on the planned path,extension theory is introduced to switch the intelligent vehicle under different driving conditions.Under low-speed and high-attach conditions,the preview PID control is adopted to improve the realtime performance while ensuring the accuracy of path tracking;MPC control is adopted in high-speed and low-adhesion conditions,and the safety of vehicle path tracking is guaranteed through constraint control.Finally,a joint simulation environment was built using MATLAB/Car Sim.The simulation of the lane-changing collision avoidance path tracking is carried out under two typical conditions:lowspeed high-adhesive pavement and high-speed low-adhesive pavement.The results show that the extension algorithm is used to switch the path tracking under different working conditions.Under the premise of ensuring the accuracy of tracking,the real-time of the lane-changing of under low speed and high adhesion conditions and the stability of the vehicle under high speed and low adhesion conditions are improved.

关 键 词：智能车 换道避撞 可拓控制 预测控制 预瞄控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]