吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (2): 738-746.doi: 10.13229/j.cnki.jdxbgxb20191201

• 通信与控制工程 • 上一篇    

一种基于模型预测复合控制的车辆避碰控制方法

李寿涛1,2(),王蕊2,徐靖淳2,王德军1,2,田彦涛1,2,于丁力3   

  1. 1.吉林大学 汽车仿真与控制国家重点实验室，长春 130022
    2.吉林大学 通信工程学院，长春 130022
    3.利物浦约翰摩尔大学 工程与技术学院，利物浦 L33AF
  • 收稿日期:2020-01-03 出版日期:2021-03-01 发布日期:2021-02-09
  • 作者简介:李寿涛（1975-）,男,副教授,博士.研究方向:车辆动力学及仿真控制,智能机械与机器人控制技术.E-mail:list@jlu.edu.cn
  • 基金资助:
    吉林省科技厅自然基金项目(20190201099JC);汽车仿真与控制国家重点实验室自由探索项目(ascl-zytsxm-202022);吉林省教育厅“十三五”科学技术项目(JJKH20190167KJ)

A vehicle collision avoidance control method based on model predictive composite control

Shou-tao LI1,2(),Rui WANG2,Jing-chun XU2,De-jun WANG1,2,Yan-tao TIAN1,2,Ding-li YU3   

  1. 1.State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
    2.College of Communication Engineering，Jilin University，Changchun 130022，China
    3.School of Engineering and Technology，Liverpool John Moores University，Liverpool L33AF，UK
  • Received:2020-01-03 Online:2021-03-01 Published:2021-02-09

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摘要：

为减少日益增长的交通安全问题，车辆碰撞预警及避碰控制系统必不可少。本文提出了一种结合车辆横纵向动力学的复合控制避碰方法，以达到减少交通事故发生的目的。首先，分别建立了车辆逆纵向和横向动力学模型，纵向控制器通过安全距离模型来判断车辆是否处于危险状态并进行碰撞预警，采用分层控制方法设计了上层模型预测控制器和底层单神经元PID控制器。横向上结合不同时速时的参数约束设计模型预测控制器。最后，在不同工况下进行了仿真实验，表明本文控制系统能成功避碰，提高了车辆的安全性、稳定性、舒适性。

关键词: 车辆工程, 车辆主动安全, 车辆避碰, 安全距离模型, 纵向控制, 侧向换道控制

Abstract:

In order to reduce the increasing traffic safety problems， the development of vehicle collision early warning and collision avoidance control system is essential. This paper presents a compound control and collision avoidance method based on the longitudinal and lateral dynamics of vehicles to reduce traffic accidents. First， the vehicle inverse longitudinal and lateral dynamics models are established respectively. The longitudinal controller judges whether the vehicle is in a dangerous state and gives collision warning through the safety distance model. Then， the upper model prediction controller and the bottom single neuron PID controller are designed by using the layered control method. Finally， the model predictive controller is designed by combining the parameters constraint at different speeds. Simulation experiments under different working conditions were performed， and results show that the control system designed in this paper can avoid collision successfully and improve the safety， stability and comfort of the vehicle.

Key words: vehicle engineering, active vehicle safety, vehicle collision avoidance, safety distance model, longitudinal control, lateral lane change

中图分类号: 

  • TP273

图1

车辆避碰系统"

图2

横向受力示意图"

表1

不同环境下的道路附着系数"

路面类型路面附着系数
干燥潮湿
水泥0.60~0.750.45~0.65
沥青0.55~0.700.45~0.65
冰雪0.20~0.35-

图3

单神经元PID的控制结构框图"

图4

前车减速后加速"

图5

不同速度下紧急制动"

图6

90 km/h下车辆控制器效果对比"

图7

不同初始距离下的轨迹距离"

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