【摘要】 主动避撞作为汽车主动安全技术的一种，在车辆与乘员的保护中能发挥巨大作用。针对主动避撞研究中车辆仅靠纵向制动无法完成避撞，以及在换道避撞过程中传统控制方法无法解决带约束的最优控制问题，基于模型预控制理论设计出轨迹跟踪控制器来实现换道避撞。控制器设计基于简化的车辆三自由度模型，避撞轨迹为五次多项式拟合的单移线，运用模型预测控制理论将换道过程中多约束下的最优控制问题变为带约束的二次函数进行求解，并研究不同控制器参数对轨迹跟踪效果的影响，进而确定出合适的控制器参数，最后在Carsim/Simulink中实现联合仿真。结果表明，在速度为80 km/h、附着系数为0.8的道路上和速度为30 km/h、附着系数为0.3的道路上，车辆都能实现对参考轨迹的跟踪，完成换道避撞，保证了行车安全性。更多还原

【Abstract】 As a kind of vehicle active safety technology, active collision avoidance plays a great role in the protection of vehicles and occupants. In this study of active collision avoidance, aiming at the fact that the vehicle cannot avoid collision only by longitudinal braking, and the traditional control method cannot solve the optimal control problem with multiple constraints in the process of lane change and collision avoidance, we design a trajectory tracking controller based on the model pre-control theory to realize lane change and collision avoidance. Firstly, the controller design is based on the simplified vehicle three-degree-of-freedom model, and the collision avoidance trajectory is a single shift line fitted by a fifth order polynomial. Then the optimal control problem under multiple constraints in the process of lane changing is transformed into a quadratic function with constraints, which can be solved using the model predictive control theory. The influence of different controller parameters on the trajectory tracking effect is also studied, and the appropriate controller parameters are determined. Finally, the co-simulation is implemented in Carsim/Simulink. The results show that both on the road with the speed of 80 km/h and adhesion coefficient of 0.8, and on the road with the speed of 30 km/h and the adhesion coefficient of 0.3, the vehicles can track the reference trajectory and complete lane change and collision avoidance to ensure driving safety.更多还原