摘要
针对汽车避撞过程中路面发生突变导致传统控制策略失效的问题,提出一种基于路面实时识别的自适应紧急避撞控制策略。首先利用递推最小二乘法(RLS)对路面附着系数进行实时在线识别;然后依据纵向安全距离模型将路面突变分为2种形式:一种为安全距离以内路面发生突变;另一种为汽车当前位置到安全距离临界点这一段路面发生突变,并针对此2种工况设计自适应控制策略。在搭建的Pre Scan与Matlab/Simulink联合仿真平台中验证了该控制策略的有效性。结果表明:该控制策略能很好地完成路面突变条件下传统单一制动控制失效情况下的紧急避撞。研究结果为汽车的主动安全控制提供理论支持。
A new adaptive emergency avoidance control strategy based on the real-time identificationof road surface is proposed to solve the serious problem of the failure of the traditional control strategycaused by the sudden change of the road surface during the vehicle collision avoidance process.Firstly,the method of recursive least squares （ R L S ） is used to identify the pavement adhesioncoefficient in real-time. Secondly,two kinds of road mutations based on longitudinal safety distancemodel can be classified into two forms. One is road mutation within safe distance, and the other is thecar of current location to this section of the road safety distance of critical point mutation. The adaptive control strategy is designed for these two kinds of conditions. The union built by PreScan and Matlab/Simulink is to verify the effectiveness of the proposed control strategy.The results show that the control strategy can accomplish the active collision avoidance in vehicleemergency condition, which is caused by the sudden change of the road surface, but the traditionalcontrol strategy cannot effectively avoid the obstacle, the results provide theoretical support for theautomotive active safety control.
作者
汪
严明月
张佳佳
吴树凡
张凤娇
魏民祥
WANG Yan 1, YAN Mingyue 1 , ZHANG Jiajia1 ,WU Shufan 1 , ZHANG Fengjiao2, WEI Minxiang 1(1. Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;2. Changzhou Institute of Technology,Changzhou 213002,Chin)
出处
《重庆理工大学学报（自然科学）》
CAS
北大核心
2018年第5期48-56,共9页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金资助项目(51775268)
关键词
递推最小二乘法
路面附着系数估计
自适应避撞控制策略
recursive least squares （ R L S ）
estimation of road adhesion coefficient
adaptivecollision avoidance control strategy
