基于横向避撞的安全距离速度综合模型

Comprehensive model of safe distance and speed based on lateral collision avoidance

为了避开侧面来驶车辆的撞击,将车辆的运动在基于阿克曼转向原理的基础上简化为自行车模型,建立平面几何中车辆运行的理论数学模型。假定两车之间的距离太小,倘若继续行驶必定在交汇处撞击到侧面的情况下,约束智能小车的最高驾驶速度,设定小车在遇到危险立即转向避撞的条件,并结合轮胎与地面的滚动摩擦系数,得出横向转向避免撞击的安全距离和安全速度。通过智能小车的模拟实验,结合理论数值模型的仿真,用智能小车的模拟实验结果去验证自行车理论下的数学模型,进一步证实在横向撞击下安全距离、速度避撞的可靠性和可行性。

In order to avoid the impact of vehicles on the side,simplify the movement of the vehicle to a bicycle model based on the Ackerman steering geometry, establish a theoretical mathematical model of vehicle operation in plane geometry. Hypothesis that if the distance between cars is too small, if they continue driving, they will hit the side at the intersection, restrict the maximum driving speed of the smart car, set the conditions for the car to immediately turn to avoid collision when encountering danger,combined with the rolling friction coefficient between the tire and the ground, get the safe distance and safe speed for lateral steering to avoid collision. Through the simulation experiment of the smart car, simulation through experiments and theoretical numerical models, use the simulation experiment results of the smart car to verify the mathematical model under the bicycle theory, further confirm the reliability and feasibility of safe distance and speed collision avoidance under lateral impact.