基于目标运动轨迹预测的自动紧急制动避撞策略  

Automatic Emergency Brake Collision Avoidance Strategy Based on Target Trajectory Prediction

作　　者：童燮 万茂松[1] 赵奉奎[1] TONG Xie;WAN Mao-song;ZHAO Feng-kui(School of Automotive and Transportation Engineering,Nanjing Forestry University,Nanjing 210037,China)

机构地区：[1]南京林业大学汽车与交通工程学院,江苏南京210037

出　　处：《软件导刊》2021年第4期111-116,共6页Software Guide

基　　金：江苏省高等学校自然科学研究项目(17KJB150024)。

摘　　要：针对自动紧急制动系统无法对具有复杂运动状态目标进行精确识别问题,提出一种基于目标运动轨迹的自动紧急制动避撞策略。利用卡尔曼滤波对目标运动轨迹进行预测,依据汽车制动过程确定安全阈值,模糊控制器根据预测结果并结合当前车速得到自车的期望减速度,然后使用PID控制算法对汽车制动压力进行控制。通过CarSim/Simulink联合仿真对避撞策略进行仿真验证,结果表明,卡尔曼滤波预测得到的目标运动轨迹可以满足系统需求,所建立的避撞策略能够得到合理的期望减速度,实现自动紧急制动,保障行车安全。In order to solve the problem that the automatic emergency braking system cannot accurately identify the target with complex motion state,an automatic emergency braking collision avoidance strategy based on target motion trajectory is proposed.Kalman filter was used to predict the target trajectory,and the safety threshold was determined according to the braking process of the vehicle.The fuzzy controller obtained the expected deceleration of the vehicle based on the predicted results and combined with the current speed,and then PID control algorithm was used to control the braking pressure of the vehicle.CarSim/Simulink co-simulation was used to veri⁃fy the collision avoidance strategy.The simulation results show that the target motion trajectory predicted by Kalman filter can meet the system’s use requirements,and the established collision avoidance strategy can get a reasonable expected deceleration,realize auto⁃matic emergency braking,and ensure driving safety.

关 键 词：自动紧急制动 轨迹预测 避撞策略 模糊控制 PID 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]