城市工况下最小安全车距控制模型和避撞算法

Control Model for Minimum Safe Inter-vehicle Distance and Collision Avoidance Algorithm in Urban Traffic Condition

鉴于传统安全距离模型适应性差、模型参数须预先确定和车距控制偏差大的缺陷,提出一种最小安全车距控制模型和避撞算法.通过视觉和雷达传感器实时监测前方车辆,针对前方车辆行驶状态和不同类型车辆制动性能差异,给出相应的安全距离估算模型、最小安全车距控制模型与算法;为了保证车距控制精度,采用周期闭环控制方法.该算法应用于奇瑞智能自主跟车系统,经过2 种工况、5 种初始车速和2 0 0 0 次的城市道路试验.结果表明最小安全车距均保持在1 - 2 m内,控制偏差精度在依0. 5m内.该算法在各种城市工况下均具有很较高的车距控制精度,能有效提高车辆的主动安全性、驾乘舒适性和道路行车利用效率.

In view of the defects of traditional safe distance models （ poor adaptability, the necessity ofpresetting model parameters and large control deviation of inter-vehicle distance）, a control model for minimum safeinter-vehicle distance and a collision avoidance algorithm are proposed. Visual and radar sensors are used to monitorfront vehicle. According to different driving states of front vehicle and the different brake performance of differenttypes of vehicles, the corresponding safe distance estimation model and the control model and algorithm for minimumsafe inter-vehicle distance are used, and for ensuring the control accuracy of inter-vehicle distance, a periodicclosed-loop control method is adopted. The algorithms are applied to Chery intelligent autonomous following carsystem to conduct 2,000 tests on urban road with two conditions and five initial speeds. The results show that theminimum safe inter-vehicle distance is kept within the range of 1-2 meters with a control deviation less than ± 0. 5meters, indicating that the algorithms proposed can achieve high control accuracy in various urban conditions and effectivelyenhance the active safety performance and ride comfort of vehicle and road utilization efficiency.