摘要
为准确全面地反映车辆在不同道路工况下的车路一体化危险行驶状况,并通过主动避撞系统有效降低道路交通事故发生率,本文中分别利用三角函数和指数函数构建了道路和障碍物三维虚拟危险势能场,以实现车辆的主动避撞,并对其关键结构参数及其设计依据进行了分析,最后分别在恒速和变速障碍物的道路工况下进行了主动避撞仿真。结果表明,采用该方法,被控车辆能根据三维虚拟危险势能场跟随理想的路径并通过路径跟踪实现车轮的主动避撞。
In order to accurately and comprehensively reflect the vehicle-road integrated dangerous driving conditions for effectively reducing the incidence of road traffic accidents through active collision avoidance system, the 3D virtual dangerous potential fields for road and obstacles are constructed by trigonometric and exponential functions respectively for realizing the active collision avoidance of vehicle,and the key parameters of structure and their design bases are analyzed. Finally a simulation on the active collision avoidance of vehicle is conducted on roads and obstacles with both constant and varying speeds respectively. The results show that using the method pro-posed, the vehicle to be controlled can follow ideal path according to 3D virtual dangerous potential fields and realize the active collision avoidance of vehicle through path following.
出处
《汽车工程》
EI
CSCD
北大核心
2016年第9期1065-1071,1079,共8页
Automotive Engineering
基金
国家自然科学基金青年基金(61304189)
重庆市前沿与应用基础研究计划一般项目(cstc2015jcyjA60007)
中央高校基本业务费专项资金重点/双创项目(XDJK2015B028/XDJK2016E052)资助
关键词
车辆
主动避撞
危险势能场
路径跟踪
vehicle
active coUision avoidance
dangerous potential field
path following
