基于等效力的汽车主动避撞模型及其仿真

Active Vehicle-Collision Avoidance Model and Simulation Based on Equivalent Force

为使汽车主动避撞模型能够在人-车-路不同行车环境下保证汽车的主动避撞效果,建立了基于等效力的汽车主动避撞模型。通过以汽车风险评估中提出的等效力模型为基础,加入路面附着系数因子、驾驶员激进程度因子和汽车速度因子,得到行车等效力模型,通过实际行车等效力与不同行车环境中的标准等效力进行对比,实现汽车主动避撞预警。利用Simulink/CarSim进行联合仿真,结果表明,该模型在不同的行车环境下均能在安全距离内制动至前车车速且两车的跟驰距离会根据不同的行车环境得到合理变化。可见该模型能够保证汽车在不同行车环境下的主动避撞效果,为汽车主动避撞提供一个新模型。

The paper establishes an active vehicle-collision avoidance model for different human-vehicle-road environments.Based on the equivalent force model for the driving risk assessment,the three factors i.e.the road adhesion,driver aggressiveness and vehicle speed are added into the model.The collision warning will be given on the basis of the comparison between the actual driving equivalent force and the standard equivalent force.Finally Simulink and CarSim are used for joint simulation.The results show that in different driving environments,the model can reduce the speed to the preceding vehicle’s speed within a safe distance,and the following distance can be changed reasonably as well.In conclusion this model achieves the active collision avoidance effect in different driving environments.