摘要
针对汽车主动避撞问题,提出了一种紧急避撞系统的控制算法,建立了紧急避撞安全距离模型,设计了模糊比例-积分-微分（PID）控制器。对典型的高速变道避撞工况进行了仿真,仿真结果表明：本文设计的汽车紧急变道避撞控制系统,能够控制车辆在高速情况下按照所设计的预定变道轨迹行驶,横摆角速度为-7.41~7.42（°）/s,具有良好的稳定性。仿真实验验证了模糊PID控制性能优于单纯的PID控制。
To solve the problem of active collision avoidance,a control algorithm of vehicle emergency collision avoidance system was presented. The safety distance model of emergency collision avoidance was established,and the fuzzy proportion-integral-derivative( PID) controller was designed. The simulation of the working condition of high speed change lane collision avoidance was carried out. The simulation results show that the designed emergency change lane collision avoidance control system can control the vehicle travels according to the predetermined change lane trajectory in the case of high speed. The yaw rate is changed between- 7. 41 and 7. 42( °) / s so that the vehicle has high stability. The simulation experiment verifies that the performance of the fuzzy PID control is superior to the single PID control.
出处
《河南科技大学学报（自然科学版）》
CAS
北大核心
2016年第5期20-24,4,共5页
Journal of Henan University of Science And Technology:Natural Science
基金
国家自然科学基金项目(51375007)
关键词
汽车工程
汽车紧急避撞系统
模糊PID
安全距离
automotive engineering
emergency collision avoidance system
fuzzy PID
safety distance
