基于滑模控制的汽车主动换道避障研究

Research on Vehicle Obstacle Avoidance based on Synovium Control

为了减少由于驾驶员的原因所造成的交通事故,提出了一种汽车主动换道避障系统.分析了在不同交通环境中汽车换道的安全状态以及满足换道的条件,确定了一种基于理想侧向加速度的路径规划方法和基于滑模控制的路径跟踪方法;通过搭建Carsim和Matlab/Simulink联合仿真模型对所提出的控制算法进行了仿真分析.仿真和硬件在环试验结果表明,所提出的控制方法可以在前方出现障碍物,驾驶员并未进行操作的时候,系统能主动的进行换道避障.

In order to reduce the traffic accident caused by the driver,a kind of automobile active lane changing obstacle avoidance system is put forward. According to the safety status and conditions of lane changing,a path planning method based on ideal lateral acceleration and path tracking method based on sliding mode control are determined; by setting up the Carsim and Matlab/Simulink co-simulation model to simulate the proposed control algorithm. Simulation and hardware in the loop test results show that the proposed control method can actively change lane and avoid obstacles when an obstacles is in the road and the driver does not operation.