Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (2): 738-746.doi: 10.13229/j.cnki.jdxbgxb20191201

Previous Articles    

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

RICH HTML

 5   

PDF (PC)

240

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

CLC Number: 

  • TP273

Fig.1

Vehicle collision avoidance system"

Fig.2

Diagram of transverse force"

Table 1

Road adhesion coefficient in different environments"

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-

Fig.3

Control structure block diagram of single neuron PID"

Fig.4

Acceleration after deceleration of front car"

Fig.5

Emergency braking at different speeds"

Fig.6

Contrast of vehicle controller effect at 90 km/h"

Fig.7

Trajectory distance at different initial distances"

1 李静, 石求军, 刘鹏, 等. 基于纵向车速估算的商用车ABS神经网络滑模控制[J]. 吉林大学学报: 工学版, 2019, 49(4): 1017-1025.
Li Jing, Shi Qiu-jun, Liu Peng, et al.ABS neural network sliding mode control for commercial vehicles based on longitudinal speed estimation[J]. Journal of Jilin University (Engineering and Technology Edition), 2019, 49(4): 1017-1025.
2 Sazgar H, Azadi S, Kazemi R, et al. Integrated longitudinal and lateral guidance of vehicles in critical high speed manoeuvres[J]. Proceedings of the Institution of Mechanical Engineers, 2019, 233(4): 994-1013.
3 Yuan H, Sun X, Gordon T. Unified decision-making and control for highway collision avoidance using active front steer and individual wheel torque control[J]. Vehicle System Dynamics, 2019, 57(8): 1188-1205.
4 Gao Y, Gordon T, Lidberg M. Optimal control of brakes and steering for autonomous collision avoidance using modified Hamiltonian algorithm[J]. Vehicle System Dynamics, 2019, 57(10): 1-17.
5 Liu Y, Zhao Y, Hu Z, et al. Collision-avoidance reliability analysis of automated vehicle based on adaptive surrogate modeling[J].ASCE-ASME Journal of Risk and Uncertainty in Engineering Systems, 2019, 5(2): 020906.
6 Abdul-Hamid U Z, Zamzuri H, Yamada T, et al. Modular design of artificial potential field and nonlinear model predictive control for a vehicle collision avoidance system with move blocking strategy[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2018, 232(10): 1353-1373.
7 Yang W, Zhang X, Lei Q, et al. Research on longitudinal active collision avoidance of autonomous emergency braking pedestrian system (AEB-P)[J]. Sensors, 2019, 19(21): 4671-4704.
8 Cheng S, Li L, Guo H Q, et al. Longitudinal collision avoidance and lateral stability adaptive control system based on MPC of autonomous vehicles[J]. IEEE Transactions on Intelligent Transportation Systems, 2019, 21(6): 2376-2385.
9 丁建峰, 关志伟, 杜峰, 等. 基于安全距离模型的车辆跟随控制与仿真[J]. 天津职业技术师范大学学报, 2017, 27(3): 24-29, 33.
Ding Jian-feng, Guan Zhi-wei, Du Feng, et al. Vehicle following control and simulation based on safe distance model[J]. Journal of Tianjin Vocational and Technical Normal University, 2017, 27(3): 24-29, 33.
10 侯德藻, 高锋, 李克强, 等. 应用于汽车主动避撞系统的车辆纵向动力学模型[J]. 清华大学学报: 自然科学版, 2004, 44(2): 258-261.
Hou De-zao, Gao Feng, Li Ke-qiang, et al. Vehicle longitudinal dynamics model applied to active collision avoidance system [J]. Journal of Tsinghua University (Natural Science Edition), 2004, 44(2): 258-261.
11 任泽建. 基于联合仿真的车辆主动避碰控制方法研究[D]. 大连: 大连理工大学汽车工程学院, 2015.
Ren Ze-jian. Research on vehicle active collision avoidance control method based on joint simulation[D]. Dalian: School of Automotive Engineering, Dalian University of Technology, 2015.
12 Zheng H, Zhou J, Shao Q, et al. Investigation of a longitudinal and lateral lane-changing motion planning model for intelligent vehicles in dynamical driving environments[J]. IEEE Access, 2019, 7: 44783-44802.
13 田彦涛, 王晓玉, 胡蕾蕾, 等.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, et al.Active collision avoidance control algorithm for electric vehicle lateral lane change[J]. Journal of Jilin University (Engineering and Technology Edition), 2016, 46(5): 1587-1594.
[1] Guo-ying CHEN,Jun YAO,Peng WANG,Qi-kun XIA. Stability control strategy for rear in⁃wheel motor drive vehicle [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(2): 397-405.
[2] Wei-da WANG,Yan-jie WU,Jia-lei SHI,Liang LI. Electronic hydraulic brake power system control strategy based on driver intention recognition [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(2): 406-413.
[3] Dao WU,Li-bin ZHANG,Yun-xiang ZHANG,Hong-ying SHAN,Hong-mei SHAN. Visual detection method for vehicle braking time sequence based on slip rate identification [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(1): 206-216.
[4] En-hui ZHANG,Ren HE,Wei-dong SU. Numerical analysis of oil liquid sloshing characteristics in fuel tank with different baffle structures [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(1): 83-95.
[5] Fang-wu MA,Hong-yu LIANG,Qiang WANG,Yong-feng PU. In-plane dynamic crushing of dual-material structure with negative Poisson′s ratio [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(1): 114-121.
[6] Lu XIONG,Yan-chao WEI,Le-tian GAO. Inertial measurement unit/wheel speed sensor integrated zero-speed detection [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(1): 134-138.
[7] Ji-qing CHEN,Qing-sheng LAN,Feng-chong LAN,Zhao-lin LIU. Trajectory tracking control based on tire force prediction and fitting [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1565-1573.
[8] Zhi-gang YANG,Ya-jun FAN,Chao XIA,Shi-jun CHU,Xi-zhuang SHAN. Drag reduction of a square⁃back Ahmed model based on bi⁃stable wake [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1635-1644.
[9] Zhe SHEN,Yi-gang WANG,Zhi-gang YANG,Yin-zhi HE. Drift error correction of unknown sound source in wind tunnel using approximation method [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1584-1589.
[10] Zhao LIU,Jiang-lin CHENG,Yu-tian ZHU,Li-hui ZHENG. Vertical vibration modeling and motion correlation analysis of rail vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1600-1607.
[11] Chang-qing DU,Xi-liang CAO,Biao HE,Wei-qun REN. Parameters optimization of dual clutch transmission based on hybrid particle swarm optimization [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1556-1564.
[12] Fei GAO,Yang XIAO,Wen-hua ZHANG,Jin-xuan QI,Zi-qiao LI,Xiao-yuan MA. Influence of coupling of elevated temperature and state of charge on mechanical response of Li⁃ion battery cells [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1574-1583.
[13] Jing LI,Qiu-jun SHI,Liang HONG,Peng LIU. Commercial vehicle ESC neural network sliding mode control based on vehicle state estimation [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1545-1555.
[14] Xin CHEN,Ning WANG,Chuan-liang SHEN,Xiao FENG,Chang-hai YANG. Effect of rearview mirror modeling on aerodynamic noise of front window [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(2): 426-436.
[15] Xiao-yu LI,Nan XU,Tao QIU,Kong-hui GUO. Influence of anisotropic stiffness on tire mechanical properties and vehicle handling characteristics under combined slip situations [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(2): 389-398.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd