智能汽车自动紧急避撞系统的安全距离模型及其对比分析

Safety Distance Model and Comparative Analysis for Intelligent Vehicle Emergency Collision Avoidance System

从运动学角度出发,分别建立了智能汽车自动紧急避撞的质点模型和考虑车辆外形尺寸及安全约束条件的避撞模型,并对上述两种模型所需的最小纵向安全距离进行了仿真计算和对比分析。在汽车质点避撞模型的计算中,对制动避撞、转向避撞以及两者的综合避撞策略进行了不同约束条件下的对比分析,提出了2种不同的转向避撞策略,并对其进行了仿真对比分析。在采用五次多项式避撞轨迹规划的基础上,进一步考虑了车辆外形尺寸对避撞过程的影响,结合质点模型的5种不同避撞方式,在高、低两种不同附着系数路面条件下,对不同车速下每种避撞策略所需的最小纵向安全距离进行仿真计算和对比分析。所得出的定量对比分析结果可为智能车辆自动紧急避撞系统的设计及自动驾驶相关研发提供参考。

From the point of view of kinematics,the automatic emergency collision avoidance particle model of intelligent vehicle and the model considering the overall dimensions with safety constraints are established respectively,and the minimum longitudinal safety distance required by the two models is simulated and compared.In the calculation of vehicle particle collision avoidance model,the braking collision avoidance,steering collision avoidance and their comprehensive collision avoidance are compared and analyzed under different constraints.In particular,two different models of steering and collision avoidance are proposed and compared.Based on the fifth order polynomial collision avoidance path,the influence of vehicle dimensions on the collision avoidance process is further considered.Combined with the five different collision avoidance methods of particle model,the minimum longitudinal safety distance under different vehicle speeds is simulated and compared under the conditions of high and low adhesion roads.The results of quantitative comparative analysis can provide reference for the design of automatic emergency collision avoidance system of intelligent vehicle and the research and development of automatic driving.