基于改进行车风险场模型的车辆避撞方法研究

Research on vehicle collision avoidance method based on improved driving risk field model

为了提高车辆行驶的主动安全性,构建了分层控制框架,对车辆的主动避撞控制系统进行研究。上层轨迹重规划控制器基于改进的行车风险场模型对行车安全进行评估,以行车安全场场强为优化指标,求解得到一条期望行驶轨迹;下层轨迹跟踪控制器在充分考虑车辆动力学约束前提下,基于模型预测控制理论,设计目标函数并求解,得到前轮转角控制量并输出给车辆执行,实现轨迹跟踪;最后基于CarSim/Simulink联合仿真平台对控制算法进行测试,验证其有效性。

In order to improve the active safety of vehicles,a hierarchical control framework is constructed to study the active collision avoidance control system of vehicles.The upper trajectory re-planning controller evaluates the driving safety based on the improved driving risk field model,and takes the driving safety field strength as the optimization index to obtain a desired driving trajectory.On the premise of fully considering the vehicle dynamics constraints,the lower level trajectory tracking controller designs and solves the objective function based on the idea of model predictive control,obtains the front wheel angle control quantity and outputs it to the vehicle for execution,so as to realize trajectory tracking.Finally,the control algorithm is tested based on CarSim/Simulink cosimulation platform to verify its effectiveness.