基于μ控制理论的汽车横向主动避撞系统研究

Study of Vehicle Lateral Collision Avoidance System Based On μ Control Theory

为提高汽车横向主动避撞系统在外界环境和自车因素产生的未建模误差和参数不确定性影响下的性能,提出了横向主动避撞安全距离模型;以动力学摄动模型动力系统为控制对象,考虑参数摄动、外界干扰和未建模误差的影响,利用μ控制理论进行横向主动避撞安全距离模型及其稳定性仿真;在Matlab的Simgui工具箱中,将μ控制器和标称情况下的H#控制器进行仿真对比。仿真结果表明模型的有效性及所设计的μ控制器在存在摄动和干扰时,具有较快的响应速度和鲁棒性,使系统有较好的控制效果。

To improve the performance of vehicle lateral collision avoidance system under the effect of non-modeling error and parameter uncertainty caused by the outside interference and vehicle,this paper proposes a safe distance model of lateral collision and simulates the lateral collision avoidance safe distance model and its stability in consideration of parameter perturbation,outside interference and non-modelling error. The μ controller and the nominal H#controller are compared with Simgui toolbox in Matlab. The simulation results show that this model is more valid and the designed μ controller has faster response speed and robustness with perturbations and interference and the system has good control effect.