基于滑模控制的车车协同主动避撞算法

Cooperative active collision avoidance algorithm based on sliding mode control

传统的汽车主动避撞算法主要基于后车制动实现,但实际应用中会因为车距过近时仍无法避免追尾事故,以及由于紧急制动而造成驾驶员、乘客感到不适.需要从汽车行驶舒适性出发,利用车车通讯获取前车信息计算理想车间距,建立滑模控制方程计算出后车期望加速度,通过分配前后车加速度来完成协同主动避撞,由此保证了汽车行驶舒适性和安全性,弥补了传统算法的不足,并通过CarSim和Matlab/Simulink联合仿真验证了算法的可行性.

The traditional active collision avoidance algorithm of vehicles is mainly realized by applying brake of the following vehicle. But collisions can＇t be avoided if two vehicles are too close. Also, the emer gency braking will cause sickness to drivers and passengers. To solve the problem, a new cooperative active collision avoidance（CACA） algorithm was presented, in which the desired deceleration of the following vehi cle was calculated by the sliding mode control equation, and collisions could be avoided by distributing accel eration to the leading vehicle. The new algorithm ensures a safe and comfortable driving environment much better than the traditional active collision avoidance algorithm. The feasibility of the new CACA algorithm was verified by simulation of CarSim and Matlab/Simulink.