电动汽车侧向换道行驶主动避撞控制算法

doi:10.13229/j.cnki.jdxbgxb201605030

吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (5): 1587-1594.doi: 10.13229/j.cnki.jdxbgxb201605030

电动汽车侧向换道行驶主动避撞控制算法

田彦涛^1,2, 王晓玉¹, 胡蕾蕾¹, 廉宇峰¹, 赵云¹, 尹诚³

1.吉林大学通信工程学院, 长春 130022;
2.吉林大学工程仿生教育部重点实验室,长春 130022;
3.长春丽明科技开发股份有限公司,长春 130117

收稿日期:2015-05-11 出版日期:2016-09-20 发布日期:2016-09-20
作者简介:田彦涛(1958-),男,教授,博士生导师.研究方向:复杂系统建模、优化与控制.E-mail:tianyt@jlu.edu.cn
基金资助:
中国电动汽车国家重点科技计划项目(JS-102); 吉林大学“985工程”项目.

Active collision avoidance algorithm in electric vehicle lateral lane change

TIAN Yan-tao^1,2, WANG Xiao-yu¹, HU Lei-lei¹, LIAN Yu-feng¹, ZHAO Yun¹, YIN Cheng³

1.College of Communication Engineering, Jilin University, Changchun 130022, China;
2.Key Laboratory of Bionic Engineering of Ministry of Education, Jilin University, Changchun 130022, China;
3.Changchun Liming Technology Development Incorporated Company, Changchun 130117, China

Received:2015-05-11 Online:2016-09-20 Published:2016-09-20

摘要/Abstract

摘要：

为实现四轮独立驱动电动车的侧向主动安全避撞控制,建立了车辆侧向换道的安全距离模型,在此模型基础上依据避撞要求设计了相应侧向控制器。利用线性二次型调节器(LQR)方法求解出侧向换道最优反馈矩阵,并采用基于输入补偿的前馈补偿策略对系统进行偏转角控制跟踪,保证系统能精确跟随给定期望横摆角。最后,通过实验验证了电动车主动安全距离模型和车辆避撞控制器的有效性,实现了车辆安全稳定避撞功能要求。

关键词: 自动控制技术, 主动避撞系统, 安全距离模型, 侧向换道, 最优控制

Abstract:

In order to achieve lateral active safety collision avoidance control of four-wheel independent drive electric vehicle, the safety distance model in vehicle lateral lane-change is proposed. On the basis of the proposed safety distance model, an appropriate lateral controller is designed, which meets the collision avoidance requirements. The Linear Quadratic Regulator (LQR) method is used to solve the optimal feedback matrix of the lateral lane-change. Then, the feed-forward compensation strategy based on input offset is taken to track the slip angle, so that the system could accurately follow the given expected yawing angle. The electric vehicle active safety distance model and the effectiveness of the vehicle collision avoidance controller are verified by experiments. The strategy realizes the safety and stability function requirements of the vehicle collision avoidance system.

Key words: automatic control technology, active collision avoidance system, safety distance model, lateral lane-changing, optimal controller

中图分类号:

TP273

田彦涛, 王晓玉, 胡蕾蕾, 廉宇峰, 赵云, 尹诚. 电动汽车侧向换道行驶主动避撞控制算法[J]. 吉林大学学报(工学版), 2016, 46(5): 1587-1594.

TIAN Yan-tao, WANG Xiao-yu, HU Lei-lei, LIAN Yu-feng, ZHAO Yun, YIN Cheng. Active collision avoidance algorithm in electric vehicle lateral lane change[J]. 吉林大学学报(工学版), 2016, 46(5): 1587-1594.

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电动汽车侧向换道行驶主动避撞控制算法

Active collision avoidance algorithm in electric vehicle lateral lane change

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