一种智能汽车驾驶过程避碰控制算法的研究  

Research on a Collision Avoidance Control Algorithm for Intelligent Vehicle Driving Process

作　　者：李汝勇[1] 张之强 LI Ru-yong;ZHANG Zhi-qiang(Department of Intelligent Technology,Hangzhou Wanxiang Vocational and Technical College,Zhejiang Hangzhou 310000,China;Zhejiang Geely Holding Group Co.,Ltd.,Zhejiang Hangzhou 310000,China)

机构地区：[1]杭州万向职业技术学院智能技术系,浙江杭州310000 [2]浙江吉利控股集团有限公司,浙江杭州310000

出　　处：《机械设计与制造》2024年第7期18-25,共8页Machinery Design & Manufacture

基　　金：2019年度浙江省重点研发计划项目(ZJ2019065)。

摘　　要：针对智能汽车驾驶系统,提出了一种集成路径跟踪、碰撞避免和碰撞缓解控制算法。该算法考虑了轮胎联合滑移力,通过监控每个轮胎的滑移情况,实现主动前转向和制动调节的控制,以提高极端条件下车辆行驶过程中的稳定性和跟踪精度。设计了不依赖于单独路径生成模块的新型切换机构,用于避碰和缓解阶段,并在各种恶劣的驾驶条件下进行了验证。仿真结果表明,该算法不仅能在正常行驶阶段跟踪期望路径,而且能在保证车辆稳定性的前提下避免碰撞,降低碰撞严重程度。For intelligent vehicle driving system,an integrated path tracking,collision avoidance and collision mitigation control algorithm is proposed.The algorithm considers the joint slip force of tires,and realizes the control of active front steering and braking adjustment by monitoring the slip of each tire,so as to improve the stability and tracking accuracy of vehicles in extreme conditions.A new switching mechanism independent of a single path generation module is designed for collision avoidance and mitigation,and verified under various harsh driving conditions.Simulation results show that the algorithm can not only track the desired path in the normal driving stage,but also avoid collision and reduce the severity of collision on the premise of ensuring vehicle stability.

关 键 词：车辆避碰 路径跟踪 跟踪精度 滑移力 

分 类 号：TH16[机械工程—机械制造及自动化]