考虑转向的汽车主动避撞控制系统研究

Research on Active Collision Avoidance Control System Considering Steering

为挖掘智能车避撞潜力,基于五次多项式构建含侧向加速度约束的避撞参考路径,基于预瞄转向几何理论实现车辆转向控制,利用线性二次型调节器(LQR)得到期望纵向加速度,在避撞结构基础上,基于碰撞时间(TTC)和跟车时距(THW)预判行车风险,以最大加速度和平均加速度评价主动避撞的乘坐舒适性,以最大横向位置误差和航向角误差评价转向控制路径跟踪精度。不同工况下仿真结果表明,该方法转向稳定性和路径跟踪精度较高,且兼顾了避撞安全性和乘坐舒适性。

In order to exploit the collision potential of intelligent vehicle,a collision avoidance reference path with lateral acceleration constraints was constructed based on the fifth-order polynomial.Vehicle steering control was realized based on the preview steering geometry theory,and the longitudinal acceleration was obtained using the Linear Quadratic regulator (LQR).Based on the collision avoidance structure,the risk of driving was predicted based on the Time Collision To (TTC) and the Time Head Way (THW).The ride comfort of active collision avoidance was evaluated with the maximum acceleration and average acceleration,and the steering control path tracking accuracy was evaluated with the maximum lateral position error and heading angle error.The simulation results under different working conditions show this method contributes to high steering stability and path tracking accuracy,and the collision avoidance safety and ride comfort are considered.