重型商用车自动紧急制动策略研究

Research on Automatic Emergency Braking Strategy for Heavy Commercial Vehicles

为了提高重型商用车的主动安全性能,提出一种自动紧急制动策略。基于碰撞时间模型,提出一种基于前后车相对加速度的碰撞时间算法。该策略采用分层控制,上层控制器通过设定碰撞时间阈值,并运用改进后的碰撞时间模型对期望制动减速度进行制动决策;下层控制器的输入为期望制动减速度与车辆信息,根据计算出的期望制动安全距离进行控制。在TruckSim和MATLAB/Simulink软件中分别搭建车辆动力学模型与自动紧急制动策略并实现联合仿真。仿真结果表明,该分层制动策略可有效避免碰撞。

In order to improve the active safety performance of heavy commercial vehicles,an automatic emergency braking strategy was proposed.Based on the collision time model,a collision time algorithm based on the relative acceleration of the front and rear cars had been proposed.This strategy had adopted a hierarchical control method.The upper controller sets the collision time threshold and uses the improved collision time model to make braking decisions on the expected braking deceleration;the input of the lower controller is the expected brake deceleration and vehicle information,the control was implemented according to the calculated expected braking safety distance.The vehicle dynamics model and the automatic emergency braking strategy were built in TruckSim and MATLAB/Simulink software respectively and had been realized joint simulation.The simulation results show that the layered braking strategy can effectively avoid collisions.