基于不同紧急工况辨识的车辆主动避撞自适应控制

doi:10.3901/JME.2020.04.115

机械工程学报 ›› 2020, Vol. 56 ›› Issue (4): 115-124.doi: 10.3901/JME.2020.04.115

基于不同紧急工况辨识的车辆主动避撞自适应控制

汪, 殷国栋, 耿可可, 董昊轩, 刘帅鹏, 陈南

东南大学机械工程学院南京 211189

收稿日期:2019-02-23 修回日期:2019-08-07 出版日期:2020-02-20 发布日期:2020-04-23
通讯作者: 殷国栋(通信作者),男,1976年出生,博士,教授,博士研究生导师。主要研究方向为先进电动汽车,车辆动力学与控制,智能无人汽车,车辆主动安全控制。E-mail:ygd@seu.edu.cn
作者简介:汪,男,1992年出生,博士研究生。主要研究方向为汽车主动安全控制。E-mail:yanwangiv@outlook.com
基金资助:
国家重点研发计划（2016YFD0700905）、国家自然科学基金（U1664258，51575103）、江苏省自然科学基金（BK20180401）、2018省地联合招标成果转化（BA2018023）和东南大学优秀博士论文培育基金（YBPY1947）资助项目

Active Collision Avoidance Adaptive Control Based on Identification of Different Emergency Conditions

WANG Yan, YIN Guodong, GENG Keke, DONG Haoxuan, LIU Shuaipeng, CHEN Nan

School of Mechanical Engineering, Southeast University, Nanjing 211189

Received:2019-02-23 Revised:2019-08-07 Online:2020-02-20 Published:2020-04-23

摘要/Abstract

摘要： 针对车辆高速紧急工况下的主动避撞问题，提出一种基于工况辨识的自适应避撞控制策略。以实时交通环境信息与车辆状态信息为基础构建一种紧急工况避撞模式分类方法，该方法把紧急工况避撞模式分为制动避撞、转向避撞、协调避撞三种模式。对于制动避撞模式，设计一种考虑路面附着条件和驾乘人员舒适度的纵向制动避撞策略；对于转向操纵避撞模式，构建基于多项式路径规划的避撞策略；对于制动和转向协调避撞模式，设计一种基于数据驱动的自学习协调控制策略。不同控制策略的期望输出通过比例积分微分（Proportional integral differentiation， PID）下层控制器对期望值进行跟踪来完成避撞。在Matlab/Simulink环境中搭建Simulink-Carsim汽车紧急避撞控制联合仿真平台，基于该平台进行多种工况的虚拟试验来验证控制系统的实时性和有效性。结果表明，控制系统能自动有效识别当前紧急工况该采取何种避撞操纵，在完成避撞的同时也能保证车辆的稳定性。

关键词: 紧急避撞, 避撞模式分类, 自适应避撞控制

Abstract: An adaptive collision avoidance control strategy based on working condition identification is proposed to solve the problem of active collision avoidance under high-speed emergency conditions. According to the real-time traffic environment information and vehicle states information, a classification method of emergency conditions avoidance mode is constructed. The method divides the emergency mode collision avoidance mode into three modes, braking collision avoidance, steering collision avoidance, and coordinated collision avoidance. For braking collision avoidance mode, a longitudinal braking collision avoidance strategy considering road friction conditions and the comfort of the driver and passengers is designed to solve the problem of braking collision avoidance. A collision avoidance strategy based on polynomial path planning is used to solve the collision avoidance problem in the steering collision avoidance mode. For braking and steering coordination collision avoidance mode, a data-driven self-learning coordinated control strategy is designed to address the coordinate collision avoidance problem. The expected output of different control strategies is tracked by the PID lower controller to complete collision avoidance. The Simulink-Carsim vehicle emergency collision avoidance control joint simulation platform is built in Matlab /Simulink environment. Based on the platform, a virtual test of various working conditions is carried out to verify the real-time and effectiveness of the control system. The results show that the control system can automatically and effectively identify what kind of collision avoidance operation should be adopted in the current emergency conditions,and the stability of the vehicle can be ensured while completing the collision avoidance.

Key words: emergency collision avoidance, mode classification of collision avoidance, adaptive collision avoidance control

中图分类号:

U461

汪, 殷国栋, 耿可可, 董昊轩, 刘帅鹏, 陈南. 基于不同紧急工况辨识的车辆主动避撞自适应控制[J]. 机械工程学报, 2020, 56(4): 115-124.

WANG Yan, YIN Guodong, GENG Keke, DONG Haoxuan, LIU Shuaipeng, CHEN Nan. Active Collision Avoidance Adaptive Control Based on Identification of Different Emergency Conditions[J]. Journal of Mechanical Engineering, 2020, 56(4): 115-124.

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基于不同紧急工况辨识的车辆主动避撞自适应控制

Active Collision Avoidance Adaptive Control Based on Identification of Different Emergency Conditions

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