基于模糊规则的智能汽车弯曲坡道避撞控制研究  

Collision-avoidance control of intelligent vehicles on curved ramps based on fuzzy rules

作　　者：李臣旭 江浩斌[1] 张旭培 马世典[2] LI Chen-xu;JIANG Hao-bin;ZHANG Xu-pei;MA Shi-dian(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013;Automotive Engineering Research Institute,Jiangsu University,Zhenjiang 212013)

机构地区：[1]江苏大学汽车与交通工程学院,江苏镇江212013 [2]江苏大学汽车工程研究院,江苏镇江212013

出　　处：《机械设计》2023年第4期1-8,共8页Journal of Machine Design

基　　金：国家自然科学基金(51675235);江苏省高校自然科学基金(16KJA58000);江苏省产学研前瞻性联合创新项目(BY2012173)。

摘　　要：针对智能汽车自动代客泊车驶入地下停车场过程中易在弯曲坡道内与其他行驶车辆发生碰撞的问题,文中提出了一种基于模糊规则的弯曲坡道避撞控制方法。首先,对地下停车场弯曲坡道内潜在碰撞场景及安全车距进行了分析;然后,进行了模糊避撞控制器的设计,并基于环境感知系统的输出进行了避撞控制模糊规则库的建立;最后,利用CarMaker与Simulink搭建了联合仿真平台,对文中设计的模糊避撞控制器进行了验证。结果表明:文中研究的基于模糊规则的避撞控制方法在地下停车场弯曲坡道上能够收到良好的避撞效果。The intelligent vehicles of automatic valet parking are likely to collide with other vehicles on the curved ramps when they automatically drive into an underground parking lot.Thus,in this article,the collision-avoidance control based on the fuzzy rules is proposed to solve this problem.Firstly,the analysis is conducted on the potential collision scenarios and the safe vehicle distance on the underground parking lot's curved ramp.Then,the fuzzy collision-avoidance controller is designed,and the fuzzy-rule library for collision-avoidance control is worked out based on the output of the environment-perception system.Finally,the co-simulation platform is set up by means of CarMaker and Simulink,in order to verify the fuzzy collision-avoidance controller.The results show that the collision-avoidance control based on the fuzzy rules ensures desirable collision-avoidance effect on the underground parking lot's curved ramp.

关 键 词：自动代客泊车 弯曲坡道 环境感知 模糊规则 避撞控制 

分 类 号：U463.6[机械工程—车辆工程]