城市工况下最小安全车距控制模型和避撞算法

发布时间：2018-08-27 07:31

【摘要】：鉴于传统安全距离模型适应性差、模型参数须预先确定和车距控制偏差大的缺陷,提出一种最小安全车距控制模型和避撞算法。通过视觉和雷达传感器实时监测前方车辆,针对前方车辆行驶状态和不同类型车辆制动性能差异,给出相应的安全距离估算模型、最小安全车距控制模型与算法;为了保证车距控制精度,采用周期闭环控制方法。该算法应用于奇瑞智能自主跟车系统,经过2种工况、5种初始车速和2 000次的城市道路试验。结果表明:最小安全车距均保持在1~2m内,控制偏差精度在±0.5m内。该算法在各种城市工况下均具有很较高的车距控制精度,能有效提高车辆的主动安全性、驾乘舒适性和道路行车利用效率。
[Abstract]:In view of the traditional safety distance model's poor adaptability, the model parameters must be determined in advance and the large deviation of vehicle distance control, a minimum safety distance control model and collision avoidance algorithm are proposed. The vehicle in front is monitored by vision and radar sensor in real time. According to the difference of vehicle driving state and braking performance of different types of vehicles, the corresponding safety distance estimation model, minimum safe distance control model and algorithm are given. In order to ensure the precision of distance control, the periodic closed loop control method is adopted. The algorithm is applied to the Chery Intelligent Autonomous vehicle tracking system. It has been tested on two different conditions, including 5 initial speeds and 2 000 urban road tests. The results show that the minimum safety distance is within 1m and the precision of control deviation is within 卤0.5m. The algorithm has a high precision of distance control under various urban conditions, and can effectively improve the active safety of vehicles, ride comfort and road driving efficiency.
【作者单位】：安徽工程大学计算机与信息学院;奇瑞汽车股份有限公司前瞻技术研究院;
【基金】：国家自然科学基金(91120307) 安徽省自然科学基金(TSKJ2015B12) 安徽工程大学计算机应用技术重点实验室开放基金(JSJKF201514) 江苏省六大人才高峰项目(2014-DZXX-040)资助
【分类号】：U463.6

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