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

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Active collision avoidance algorithm in electric vehicle lateral lane change

TIAN Yan-tao1,2, WANG Xiao-yu1, HU Lei-lei1, LIAN Yu-feng1, ZHAO Yun1, YIN Cheng3   

  1. 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

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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

CLC Number: 

  • TP273
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