基于校园不确定性道路场景的AEB与ACC联合控制研究  

Research of Emergency Braking and Adaptive Cruise Combined Control Based on Campus Uncertain Road Scene

作　　者：高源 王昌龙[1] 唐晓峰 翁佳昊 高安 宋彦琳 GAO Yuan;WANG Changlong;TANG Xiaofeng;WENG Jiahao;GAO An;SONG Yanlin(College of Mechanical Engineering,Yangzhou University,Jiangsu Yangzhou 225127)

机构地区：[1]扬州大学机械工程学院,江苏扬州225127

出　　处：《汽车实用技术》2021年第20期45-48,共4页Automobile Applied Technology

摘　　要：为实现自动驾驶车辆在非结构化道路场景中的安全行驶,侧重于校园道路的不确定性环境研究了车辆紧急制动(AEB)与自适应巡航(ACC)的联合控制方法。文章设计了PID控制器,进行了基于校园道路的实车实验,实验结果表明该控制器响应迅速,能够在车辆巡航时根据前方路况紧急制动,保证了在不确定性道路场景中自动驾驶的安全性。In order to achieve autonomous vehicle safety when driving in unstructured road,emergency braking and adaptive cruise combined control method which focuses on uncertain environment of campus road was studied.PID controller is designed in this paper,real vehicle experiment is carried out based on campus road and the results indicate that controller response quickly and can brake imminently according to situation of the load ahead,which ensure safety of automatic driving in uncertain road scene.

关 键 词：自动驾驶车辆 紧急制动 自适应巡航 PID 

分 类 号：U495[交通运输工程—交通运输规划与管理]