摘要
整车避撞控制系统是一项关键的主动安全配置,当车辆行驶碰到突发情况时,可以及时作出调整以保证整车的行驶安全性能.文章基于Carsim软件建立了整车动力学模型,依据行车安全距离模型,设计了模糊控制与PID控制相结合的分层控制器来模拟整车紧急避撞控制,搭建了六种速度工况进行纵向整车避撞控制系统的联合仿真.在车辆检测到与前车有碰撞危险时,基于模糊控制与PID控制的整车避撞控制系统介入工作,使得车辆减速制动,最终保证与前车维持一定的安全距离停车或跟车行驶.仿真结果表明,该整车避撞控制系统满足避撞要求,可实现安全行驶.
The vehicle collision avoidance control system is a key active safety configuration.It can work correspondingly to ensure the driving safety when the vehicle encounters an emergency.In this paper,a hierarchical controller based on the fuzzy and PID algorithms is presented to simulate the vehicle emergency collision avoidance control.A detailed vehicle dynamic model and a driving safety distance model are used for the vehicle safety control.Afterwards,the co-simulation of longitudinal vehicle collision avoidance control with different initial speed conditions is performed.The simulation results show that the vehicle controller based on the fuzzy PID algorithm meets the collision avoidance requirements in a large range of vehicle speeds.
作者
何柳青
杨春林
潘勇军
He Liuqing;Yang Chunlin;Pan Yongjun(Chongqing University,School of Automotive Engineering,State Key Laboratory of Mechanical Transmission,Chongqing 400044 China)
出处
《动力学与控制学报》
2021年第3期38-45,共8页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(11702039)。
关键词
主动安全
避撞控制
模糊控制
分层控制器
联合仿真
active safety
collision avoidance control
fuzzy control
hierarchical controller
co-simulation
