行人防碰撞系统制动控制建模与联合仿真

Modeling and Co-simulation of Automatic Braking Control for Pedestrian Collision Avoidance System

为了体现现有汽车主动防撞系统对车外行人等交通弱势群体的主动安全保护,对行人防碰撞预警系统中自动制动控制进行了研究。在车辆获取到前方行人基本信息的基础上,设计了考虑行人安全的安全状态判断模型,建立了基于Carsim和Simulink的车辆纵向动力学模型,采用加速度滑模控制方法设计了获取本车期望加速度的上位控制器,单神经元PID控制设计了跟踪这一期望加速度的下位控制器,最后对典型的行人危险场景进行联合仿真。试验表明所设计的控制算法对避撞行人有较好的响应,并且能在保证一定的安全距离的前提下实现自动制动,保证了行车的安全性。

To realize the active safety protection of pedestrian and other vulnerable groups of current vehicle active collision avoidance system,the automatic braking control of the pedestrian collision avoidance system is studied. The safety state assessment model is designed after obtaining the pedestrian information ahead of vehicle. The vehicle longitudinal dynamics model is created utilizing Carsim and Simulink. The desired acceleration of the host vehicle is generated by the upper controller based on sliding model control. A bottom controller,which aims to track the desired acceleration,is designed based on the single neuron PID control. Several typical pedestrian protection scenarios are presented. Results show that the designed controller has a good response in preventing pedestrian collision. The vehicle can brake automatically while keeping a safety distance between the pedestrian and vehicle,improving vehicle driving safety.