智能车辆主动避撞与稳定性联合控制仿真

Simulation of Active Collision Avoidance and Stability Control for Intelligent Vehicle

为改善车辆在主动避撞过程中的车辆动力学特性,在MATLAB/S imu link环境下结合驾驶员模型分别设计了基于模糊控制理论的主动避撞控制处理器、制动稳定性控制器和转向稳定性控制器,从而能够在车辆主动避撞过程中综合考虑避撞和稳定性两个目标。并在ADAMS中建立了整车模型,联合MATLAB进行了仿真研究,仿真结果证明,在相同的避撞控制方式下,加入稳定性控制的车辆避撞效果和响应曲线要优于未施加稳定性控制的车辆,验证了本文所设计的控制器的有效性。

To improve the vehicle＇s dynamic characteristics in the course of active collision avoidance,controllers for collision avoidance,braking stability and steering stability based on the fuzzy-control theory and dummy driver model were designed in MATLAB/Simulink environment,considering collision avoidance and vehicle stability simultaneously in the vehicle＇s active collision avoidance process.A model was established in ADAMS,and a simulation was performed combined with MATLAB.The simulation result indicates that collision avoidance of vehicles associating with stability control and response curve are better than that without stability control under the same collision avoidance control mode.It can verify the effectiveness of the presented controller.