基于汽车纵向动力学的防追尾控制方法设计  

Design of a rear collision prevention control method based on vehicle longitudinal dynamics

作　　者：王浩远 唐睿智[1] 刘嘉睿 张苑晴 周晓阳 WANG Hao-yuan;TANG Rui-zhi;LIU Jia-rui;ZHANG Yuan-qing;ZHOU Xiao-yang(School of Mechanical and Electric Engineering,Guangzhou Universtiy,Guangzhou 510006,China)

机构地区：[1]广州大学机械与电气工程学院,广东广州510006

出　　处：《广州大学学报（自然科学版）》2023年第6期93-100,共8页Journal of Guangzhou University:Natural Science Edition

摘　　要：为避免汽车发生追尾事故,设计了一种基于汽车纵向动力学模型的防追尾控制方法。①通过分析汽车的制动过程,建立安全距离的数学模型,得到动态的预警距离和危险距离;②为使汽车保持安全距离,基于汽车纵向动力学建立了系统的整体模型,利用李雅普诺夫稳定性理论,结合动态的预警距离和危险距离,使用反步法设计控制方法,使得系统渐进稳定;③通过实验验证得出结论,所设计的控制方法可使汽车较好地跟踪期望速度以及期望位移,并且自车在制动过程中与前车的相对距离始终大于危险距离,保证了两车的安全,从而实现汽车防追尾的设计目标。In order to avoid rear-end accidents of cars,an anti-rear-end control method based on the longitudinal dynamics model of cars is designed.Firstly,by analyzing the braking process of a vehi-cle,a mathematical model of safety distance is established to obtain a dynamic warning distance and danger distance.Secondly,in order to maintain a safe distance for vehicles,an overall model of the system is established based on vehicle longitudinal dynamics.Using Lyapunov stability theory,com-bined with dynamic warning distance and danger distance,a control method is designed using the Back-stepping method to make the system gradually stable.Finally,through simulation,the following conclusions were drawn:The designed control method can enable the vehicle to better track the ex-pected speed and expected displacement,and the relative distance between the vehicle and the vehi-cle in front is always greater than the dangerous distance during braking,ensuring the safety of the two vehicles,and achieving the design goal of vehicle rear-end collision prevention.

关 键 词：汽车防追尾控制 安全距离 汽车纵向动力学 反步设计法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]