【摘要】 针对车辆纵向跟驰过程中的避撞问题,基于车辆运动状态和路面附着系数等因素,提出了一种改进的安全距离模型。针对驾驶员和主动制动系统的协调控制问题,采用可拓决策的方法,以两车实际间距和碰撞时间为参考变量建立二维可拓集合,划分动态安全边界,不同域中分别采用自由驾驶模式、协调制动模式和主动制动模式。基于避撞模型,对被选为主动制动控制器的径向基神经网络的模型进行训练,得出理想制动压力。通过软件仿真和台架硬件在环仿真,对所提控制策略进行验证,结果表明所提策略能有效避免车辆纵向碰撞,改善了制动平稳性和安全性。更多还原

【Abstract】 Aiming at the problem of collision avoidance in the process of vehicle longitudinal following,an improved safety distance model is proposed based on the factors of vehicle motion state and road adhesion coefficient. In view of the issue of coordinated control between driver and active braking system,the method of extension decision is adopted to establish a 2D extension set,with the real vehicle spacing and time-to-collision as reference variables. The dynamic safety boundary is divided,and free driving mode,coordinated braking mode and active braking mode are adopted respectively in different domains. Based on collision avoidance model,the model for radial basis function neural network selected as active braking controller is trained to obtain the ideal braking pressure.Both software simulation and the hardware(test bench)-in-the-loop simulation are conducted to verify the control strategy proposed,and the results show that the strategy proposed can effectively avoid the vehicle longitudinal collision,and improve the braking smoothness and safety.更多还原