摘要
为提高人车共驾智能汽车侧向避障安全性,提出了基于动态避障预警的侧向避障鲁棒控制策略。针对汽车行驶前方汽车加速度和速度动态变化,建立汽车纵向安全距离模型,提出了基于临界纵向安全距离和碰撞时间倒数融合互补的多级预警算法。针对不同预警状态,根据驾驶员是否介入,对智能汽车进行相应控制,实现人车共驾智能汽车安全性;针对避障过程前后侧偏刚度参数动态摄动,提出了考虑参数动态摄动的鲁棒控制策略,以实现智能汽车侧向避障轨迹精准跟踪。搭建了Carsim与Simulink联合仿真平台,进行了所提控制策略仿真分析,结果表明:所提控制策略有效,实现了不同级别预警并能根据驾驶员动态介入而动态调整预警状态,若驾驶员对预警未介入直到四级预警,控制策略自动接管人车共驾智能汽车,进行侧向避障控制,提高了人车共驾智能汽车安全性和横摆稳定性。
To improve the safety of lateral obstacle avoidance for an intelligent vehicle with a shared driving control between human driver and autonomous driving system,a robust control strategy based on dynamic obstacle avoidance warning is proposed.Considering the dynamic changes of acceleration and speed of the vehicle ahead,the longitudinal safety distance model is established,and a multi-level warning algorithm based on the fusion and complementation of the critical longitudinal safety distance and the reciprocal of collision time is proposed.According to the different warning status and dynamic intervention of the driver,relative controls are put up for the vehicle so as to achieve the safety of the intelligent vehicle.Meanwhile,to realize the precise control of trajectory tracking,the robust control strategy of lateral obstacle avoidance based on parameter perturbation is proposed.Finally,the simulation platform of Carsim and Simulink is constructed,and the proposed control strategy is verified.The results indicate that the proposed control strategy can obtain different warning levels and can dynamically adjust warning states with dynamic intervention of the driver.If the driver does not respond to the warning until the fourth level warning,the control strategy automatically takes over the intelligent vehicle and carries out the lateral obstacle avoidance control,improving the safety and yaw stability of the intelligent vehicle.
作者
聂枝根
王超
王万琼
沈澳
韩四海
NIE Zhigen;WANG Chao;WANG Wanqiong;SHEN Ao;HAN Sihai(Faculty of Transportation Engineering,Kunming University of Science and Technology,Kunming 650500,P.R.China;LIS Laboratory,UMR CNRS 7020,Marseille 13397,France;China National Heavy Truck Group Hangzhou Engine Co.,Ltd.,Hangzhou 311232,P.R.China)
出处
《重庆大学学报》
EI
CAS
CSCD
北大核心
2021年第6期1-12,共12页
Journal of Chongqing University
基金
国家自然科学基金资助项目(51705225)
国家留学基金委资助项目(201801810050)
云南省科技计划基础研究项目(202001AT070225)。
关键词
安全距离模型
碰撞预警
侧向避障
参数摄动
鲁棒控制
safety distance model
collision warning
lateral obstacle avoidance
parameter perturbation
robust control
