CN109613916A - A kind of driver is in ring Automotive active anti-collision simulation test stand - Google Patents
A kind of driver is in ring Automotive active anti-collision simulation test stand Download PDFInfo
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The present invention relates to a kind of drivers in ring Automotive active anti-collision simulation test stand, comprising: hardware system, including ESP hydraulic brake subsystem and EPS electric power steering subsystem, and be laid out according to actual vehicle；Data acquisition unit, including multiple sensors and the data collecting card being located in hardware system；Assemblage on-orbit control unit is connect with the data acquisition unit and hardware system, including display, the host computer of interconnection and rapid prototyping controller, is provided with vehicle and tire model, Driving Scene model, active collision avoidance Controlling model etc.；Visual system is connect with the assemblage on-orbit control unit, for generating virtual vehicle running environment.Compared with prior art, present invention introduces visual systems to establish collision avoidance operating condition, executing system by automotive correlation prevention realizes driver in ring active collision avoidance control emulation, can be used for the exploitation, verifying and the research of driving behavior of automotive correlation prevention algorithm, repeatability with higher.
Description
Technical field
The present invention relates to a kind of simulation test stands, more particularly, to a kind of driver in ring Automotive active anti-collision l-G simulation test
Platform.
Background technique
With the progress of the sensor technologies such as machine vision, radar, the automotive safeties such as active collision avoidance assist driving technology
It is developed rapidly.
Patent CN101739857A proposes a kind of simulated automotive and operates the man-machine of response to driver under various operating conditions
Interactive simulation system.The platform installs sensor on the brake apparatus of automobile, clutch, gear, throttle and steering wheel respectively,
Each sensor signal is collected by data collecting card, digital signal is converted into and gives computer disposal, and is defeated by audition
Vehicle-state is fed back to driver by system out, forms closed loop.The system is easy to acquire a variety of outputs of the man-vehicle system to input
Response signal can shift to an earlier date and design corresponding operating condition according to control strategy and simulated environment is close to practical driving.But the system
It is not able to achieve the associative simulation with software, and larger to hardware-dependent, is not easy to modification automobile parameter, versatility is poor.
Patent CN 104614187B proposes a kind of true driving cycle test device based on virtual vehicle.The system
Auto model, road model are selected and configured on people-Che-road software platform, and runs software platform, is adopted simultaneously after the completion of configuration
Collect true driver in rack to the operation of virtual vehicle, completes to save as the operation information of driver after driving specific
File format and extract the characteristic parameter of driver, which may be implemented vehicle calibration and test, and road vehicle information
Can be with real-time update, versatility is stronger.But the system is not able to achieve the associative simulation and hardware in loop of software, it cannot be right in real time
Control algolithm is verified and is optimized.
Based on the studies above deficiency, the real train test risk for verifying Automotive active anti-collision control function is higher, and expense
Valuableness brings difficulty to real train test；And common hardware-in―the-loop test system, due to not no driver real-time participation and
Feedback, cannot reappear actual persons-Che-road system interaction property comprehensively.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of drivers in ring vapour
Car owner moves collision avoidance simulation test stand.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of driver is in ring Automotive active anti-collision simulation test stand, comprising:
Hardware system, including ESP hydraulic brake subsystem and EPS electric power steering subsystem, and according to reality
Vehicle layout；
Data acquisition unit, including multiple sensors and the data collecting card being located in hardware system；
Assemblage on-orbit control unit is connect with the data acquisition unit and hardware system respectively, including display,
The host computer and rapid prototyping controller of interconnection are provided with vehicle and tire model, Driving Scene model, active collision avoidance control mould
Type and dynamic steering moment of resistance model；
Visual system is connect with the assemblage on-orbit control unit, for generating virtual vehicle running environment；
Driver passes through hardware system input brake and turn signal, sensing according to the output picture of visual system
Device acquisition data are input in assemblage on-orbit control unit through data collecting card, while data result is output on display.
Preferably, the ESP hydraulic brake subsystem includes: the brake piping, brake caliper, braking of X-type braking system
Master cylinder, brake pedal, ESP control module；The EPS electric power steering subsystem includes: steering wheel, steering column, turns to and bear
Carry simulator, EPS assist motor and EPS controller.
Preferably, the sensor includes Wheel cylinder pressure sensors, master cylinder pressure sensor, brake pedal aperture sensing
Device, steering wheel angle sensor, EPS assist motor torque sensor and temperature sensor.
Preferably, the simulation test stand is configured with starting and emergency stop physical button, status indicator lamp and alarm.
Preferably, longitudinal collision avoidance active brake implementation method of the simulation test stand includes:
Driver is driven by the vacuum boost system that electronic vacuum pump simulates driven by engine in actual vehicle and is felt
By being influenced, four wheel cylinder brake pressures are dynamically distributed by the movement of the solenoid valve in control ESP hydraulic brake subsystem
Size, so that the intensity to emergency braking is controlled.
Preferably, the lateral collision avoidance active steering implementation method of the simulation test stand includes:
The host computer realizes PWM direct torque to EPS assist motor by controlling the EPS controller, and passes through control
The steering load simulator is made to simulate steering resisting moment.
Preferably, the active collision avoidance Controlling model implementation method the following steps are included:
The reference locus of S1, input including vehicle movement track, yaw velocity track and vehicle acceptance track；
S2, using path trace precision, driver's collision avoidance acceptance and intact stability as target, design cost function, and
Minimum input changing value under line solver minimum deflection；
S3, minimum input changing value is inputted into the prediction model of vehicle movement track and intact stability respectively and is controlled
Object obtains prediction output valve and real output value；
S4, reference locus of the deviation for predicting output valve and real output value to input is subjected to feedback compensation.
Preferably, the minimum input changing value are as follows:
Wherein, k is simulation step length, ypIt (k) is control object reference track, yrIt (k) is system output trajectory, Δ u (k) is
The controlling increment of system, Q are prediction output weight coefficient, and R is the weight coefficient of PREDICTIVE CONTROL, nPTo take aim at a number, n in advancecFor control point
Number, i are to take aim at step-length in advance.
Preferably, the prediction model of the vehicle movement track are as follows:
Wherein,For state variable derivative, Xe=[xe ye ψe]TTo represent length travel, lateral displacement and course angle
State variable, wherein (x, y) is vehicle centroid position, ψ is course angle, and v is speed, and δ is front wheel angle, and L is preview distance, vr
Spot speed, δ are taken aim in advance for trackrTake aim at a front wheel angle in advance for track,It is expected course angle.
The prediction model of the intact stability includes the prediction model of yaw velocity and side slip angle, is respectively as follows:
Wherein, β is side slip angle,For the predicted value of side slip angle, m is complete vehicle quality, VxFor longitudinal speed, lf
It is vehicle mass center away from front axle distance, lrIt is vehicle mass center away from rear axle distance, γ is yaw velocity,For the pre- of yaw velocity
Measured value, C1With C2Respectively front and back wheel cornering stiffness, δ are steering wheel angle, and M is yaw moment, IzFor rotary inertia.
Preferably, the data in the dynamic steering moment of resistance model come from vehicle and tire model, including stationary vehicle
Steering resistence model under two states of vehicle movement, is respectively as follows:
Ts=Fyt
Wherein, TfIndicate steering resisting moment when stationary vehicle, μ is coefficient of friction of rest, and p is tire pressure, FzFor tire
Vertical load；TsSteering resisting moment when for vehicle movement, t are distance of the front-wheel stub apart from front-wheel, FyIt is tire by lateral
Power:
Wherein, CαFor cornering stiffness, α is side drift angle, and σ is slip rate, and lambda definition is as follows:
Compared with prior art, the invention has the following advantages that
1, it introduces visual system and establishes collision avoidance operating condition, to excite the true driving behavior of driver, pass through automotive correlation prevention
Execution system (steering system and braking system), which realizes driver and controls in ring active collision avoidance, to be emulated, which can be with
For the research of the exploitation of automotive correlation prevention algorithm, verifying and driving behavior, repeatability with higher, and experimentation cost is low
It is honest and clean.
2, driver is introduced in ring Real-time windows target system, is realized " man-machine to drive altogether ", Real-time windows target system is by virtual vehicle
Operating status visualization, driver by what comes into a driver's export to analogue system dynamic control so that the driving sense more adjunction
It is bordering on truth, and low in cost, operation is simple.
3, by vehicle and tire model, the vehicle dynamic steering moment of resistance is calculated in real time, and passes through adjustable magnetic powders brake
Device simulates steering resisting moment, is simulated to actual steering resisting moment and anti-in this way on testing stand by software and hardware combining
Feed driver, and authenticity is high.
4, using the model prediction active collision avoidance control method of more optimization aims, including reference locus, on-line optimization, prediction
Model and feedback compensation four are most of, and it is good auxiliary with driver's collision avoidance to realize high path trace precision during collision avoidance, stability
Help the collision avoidance algorithm development that acceptance is excellent.
5, using CarSim and MATLAB/Simulink associative simulation, it is convenient for policy optimization, it is credible improves test result
Degree.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is test process schematic of the invention；
Fig. 3 is active brake course of work schematic diagram of the present invention；
Fig. 4 is active steering course of work schematic diagram of the present invention；
Fig. 5 is active collision avoidance Controlling model block diagram of the present invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment
The application proposes a kind of driver in ring Automotive active anti-collision simulation test stand, as shown in Figure 1, including hardware controls
System, data acquisition unit, assemblage on-orbit control unit and visual system.Driver is led to according to the output picture of visual system
Hardware system input brake and turn signal are crossed, sensor acquires data and is input to assemblage on-orbit control through data collecting card
In unit, while data result is output on display.
Hardware system includes ESP hydraulic brake subsystem and EPS electric power steering subsystem, and according to practical vehicle
Layout, can really reflect the feedback for making dynamic characteristic and active collision avoidance control implementation result of collision avoidance executing agency, and can be quasi-
True acquisition driving behavior.ESP hydraulic brake subsystem includes: the brake piping, brake caliper, braking master of X-type braking system
Cylinder, brake pedal, ESP control module.Vacuum booster pump in ESP hydraulic brake subsystem can simulate actual vehicle brake vacuum
Power-assisted, vacuum degree can be adjusted according to real vehicles use value.EPS electric power steering subsystem includes: steering wheel, turns to
Column, steering load simulator, EPS assist motor and EPS controller.In the present embodiment, steering load simulator uses magnetic
Powder brake simulates the steering resisting moment being applied under different driving cycles on steering wheel in practical drive, magnetic powder brake
Severity of braking can need to be adjusted in real time according to emulation.
Data acquisition unit, including multiple sensors, CAN bus and the corresponding data being located in hardware system
Capture card.Sensor includes four Wheel cylinder pressure sensors, master cylinder pressure sensor, brake pedal jaw opening sensor, steering wheel
Rotary angle transmitter, EPS assist motor torque sensor and temperature sensor.
Assemblage on-orbit control unit is connect with data acquisition unit and hardware system respectively, the host computer including interconnection
With rapid prototyping controller MicroAutobox, and keyboard and display for human-computer interaction and result output.Host computer packet
Include rack built-in computer host and laptop.Assemblage on-orbit control unit be provided with by Simulink, CarSim,
Vehicle and tire model that the softwares such as Labview, ControlDesk are developed respectively, Driving Scene model, active collision avoidance control mould
Type, parameter calibration software, dynamic steering moment of resistance model and integrated collision avoidance pilot model.Wherein, vehicle is with tire model
CarSim vehicle vehicle and magic formula tire model, parameter calibration software are the parameter calibration software of ControlDesk exploitation.
Assemblage on-orbit control unit can control the solenoid valve and motor action of ESP hydraulic brake subsystem, realize that brake piping actively increases
Pressure, pressure of wheel braking cylinder can realize signal acquisition by MicroAutoBox, and be fed back in CarSim whole vehicle model.
MicroAutobox can download MATLAB/Simulink control routine and CarSim whole vehicle model wherein, simultaneously
Carry out the acquisition and output of analog quantity, digital quantity and CAN signal.On the other hand for the ease of data observation, based on Labview's
Data acquisition unit acquires the analog signal of brake system pressure sensor output and the CAN of steering system rotary angle transmitter output
Signal improves the convenience of test in this way.System test result can be defeated by DSpace software, Simulink or CarSim
Data mode out is saved.Based on this simulation test stand, driving behavior data on the one hand can be acquired, are subsequent driving
Member's behavioural analysis provides measurement condition relatively hazardous in data supporting, especially true environment, can be multiple under this simulated environment
Retest ensure that the consistency of test condition.On the other hand, it can be achieved that control strategy optimizes in line development and verifying,
By the quick adjustable strategies of test result or parameter calibration, compiled online and downloading improve development efficiency.
Simulated environment is integrated in MicroAutobox and carries out, and MicroAutobox can be regarded as running virtual vehicle
The powerful calculation processing unit of emulation.One side MicroAutobox receives the braking that sensor transmits by CAN bus system
With the virtual condition parameter of steering system, on the other hand with host computer interaction, thus realize driver by brake pedal and
Physical interface as steering wheel controls virtual vehicle, and the operation data of virtual vehicle can be reflected in host computer in real time.It is upper
Machine can simulate entire car controller and impose control by set algorithm to virtual vehicle, and observe its effect to vehicle and driver
And its feedback.
When simulation run, sensor signal can be acquired by data collecting card, and data are observed in Labview.Convenient for pair
The debugging of rack.
Visual system is connect with assemblage on-orbit control unit, for generating virtual vehicle running environment.In the present embodiment
Based on CarSim software design visual system, the measurement conditions such as road, speed can carry out customized, and simulation result is with animation shape
Formula exports on the display screen of rack realizes man-machine virtual interactive interface.And it can be real-time from visual angles such as driver, vehicle and thirds
Observe the operating condition of virtual vehicle, thus driver can according to true vehicle-state and the real-time adjustment direction disk in position,
Throttle and brake pedal reach virtual driving vehicle purpose driving on the road.
Driver is under the Real-time windows target environment that CarsSim is provided, manipulation direction disk, throttle and brake pedal, to vehicle
It is operated, completes the measurement conditions such as normal driving and collision avoidance.It can be on the basis of traditional power-assisted rule by control EPS motor
Upper application auxiliary torque realizes steering assistance collision avoidance.By controlling the active boost function of EPS motor, longitudinal actively brake is realized
Vehicle avoids collision generation.
This simulation test stand has one-key start and emergency stop function, is configured with starting and emergency stop physics on the front panel
Button is provided simultaneously with status indicator lamp and alarm, what the operating status and collision avoidance auxiliary system for realizing control strategy worked
Monitoring.
In the present embodiment, the mechanical structure of testing stand specifically: be integrated in addition to notebook computer and add by design
On the aluminium alloy post of work, testing stand pedestal facilitates the carrying of rack equipped with 4 idler wheels.Built-in power conversion equipment and air
Breaker, whole system can be by access 220V power grid power supply, and is integrated with a key cut-off button of physics on the control panel
To guarantee safety.
Testing stand is made of front panel, middle section, rear panel, pedestal.The front panel of testing stand includes display, digital display
Device, starting emergency stop key, magnetic powder brake control button and signal light control.Driver's operation panel is arranged under front panel
Side, copies actual vehicle to be laid out, including steering wheel and gas pedal and brake pedal.Place testing stand host in front panel rear.
Steering column, magnetic powder brake, ESP motor and its controller of steering system are arranged behind driver's operation panel, loaded on steering
The rotary angle transmitter of disk, the master cylinder of the square sensor of assist motor and braking system, vacuum booster, master cylinder pressure sensing
Device.The data collecting card, wiring board and cable concentrator of CAN card and NI are integrated on rear panel.These above-mentioned components are integrated in
In the experiment cabinet processed with aluminum alloy plate materials, the wheel with locking mechanism is housed on pedestal, facilitates the movement of experiment cabinet, tried
It tests in cabinet and is further provided with illuminating LED lamp.
The test process of testing stand is as shown in Figure 2:
Driver is by the manipulation interface of testing stand to system input brake pedal and steering wheel.It is pressed in hardware system
Force snesor generates analog signal, is input in host computer after data collecting card is converted；Steering wheel angle sensor passes through CAN
Absolute value multi-turn corner is input to MicroAutobox by card.While MircoAutobox carries out data acquisition, data knot
Fruit is output on the display of front panel also by Labview front panel, in order to observe debugging.Labview is sent out to CAN bus
Send specific frame control ESP hydraulic brake subsystem movement.For steering system, since the signal of rotary angle transmitter output is
CAN digital quantity is generally directly read by CAN bus, can also carry out Zero calibration to it by Labview test program.
Debugging on testbed is related to slave computer MicroAutobox and host computer.Emulation vehicle is arranged in host computer in CarSim
Structure and road environment parameter.Control strategy is provided with Simulink model, by the way that the defeated of auto model is arranged in CarSim
Enter output interface access simulated environment.DSPACE can acquire the emulation data in MicroAutobox in real time, and feed back to control
System strategy.Host computer is connected with MicroAutobox by cable, and MicroAutobox accesses testing stand by CAN communication card
CAN bus communication system.The Hardware Response Delay sent of the acquisition sensor of MicroAutobox in this way, and by itself and virtual vehicle model
It is merged with control strategy, runs emulation using its powerful computing function, and is anti-to driver's progress by visual system in real time
Feedback, while display panel shows current vehicle and driver's input state.Driver passes through according to driving experience to hardware controls
The operation control virtual vehicle of system forms closed loop.
Controlling model in assemblage on-orbit control unit is described as follows.
Steering resisting moment model is integrated in testing stand, its purpose is that keeping driver accurate in collision avoidance steering and braking process
Impression Vehicular turn resistance, to generate correct pilot control behavior.The calculating of steering resisting moment is based on vehicle two certainly
By degree model and tire model, and the steering resistence model being divided under stationary vehicle and two kinds of operating conditions of vehicle movement.Based on vehicle
Steering resisting moment can be calculated in real time with tire model, and adjusts the steering resisting moment of magnetic powder brake simulation real car, with EPS
One same-action of output torque of motor, feeds back to driver road feel by steering mechanism, passes through the feedback validation active of driver
Turn to collision avoidance algorithm.
1. when stationary vehicle, the source of steering resistence is mainly that bring frictional resistance moment is distinguished in reverse caster and introversion
Tf:
Wherein, TfIndicate steering resisting moment when stationary vehicle, μ is coefficient of friction of rest, and p is tire pressure, FzFor tire
Vertical load.
2. when vehicle movement, the source of steering resistence is mainly side force of tire aligning torque and tyre aligning torque,
Dynamic steering moment of resistance TsIt is calculated by vehicle tyre model.
Tire is F by lateral forcey:
Wherein, CαFor cornering stiffness, α is side drift angle, and σ is slip rate, and lambda definition is as follows:
It is ultimately steering to moment of resistance TsAre as follows:
Ts=Fyt
Wherein, t is distance of the front-wheel stub apart from front-wheel.
Integrated collision avoidance pilot model can realize that the actives collision avoidance such as active brake and active steering auxiliary control bottom executes
Movement.
Longitudinal collision avoidance active brake implementation method of simulation test stand is as shown in Figure 3, comprising:
When carrying out longitudinal urgent collision avoidance test, driver provides input signal by brake pedal, and testing stand is configured with
Electronic vacuum pump, to simulate shadow of the vacuum boost system to driver's driving experience of driven by engine in actual vehicle
It rings.These devices ensure that driver can obtain driving experience similar with actual vehicle, improve the reality of the engine bench test system
The property used.
When automobile longitudinal is braked, master cylinder generates pressure and passes to four wheel braking wheel cylinders by ESP control module,
Brake fluid pressure directly determines four tire forces of automobile, and then determines vehicle braking deceleration.By controlling braking system
The movement of the solenoid valve of ESP hydraulic brake subsystem can dynamically distribute the size of four wheel cylinder brake pressures in system, thus real
Now the longitudinal direction of vehicle and horizontal dynamic control when urgent collision avoidance.ESP control module can control its electromagnetism valve events, thus right
The intensity of emergency braking is controlled.
According to the grouping in test plan, different road environment parameter and vehicle original state are set in CarSim.It is imitative
True process records corresponding vehicle status parameters by CarSim.By the analysis to mass data, extracts and can be used for work
The controllable factor of the parameter and emergency braking of condition and driver style identification.Virtual emulation vehicle configuration can be given in CarSim
Virtual-sensor, it may be convenient to obtain the various parameters in simulation process.Particularly, radar mould can be configured in CarSim
Block, and radar is the important sensor of vehicle automatic emergency brake system, exploitation to vehicle automatic emergency brake system and after
The verifying of phase real vehicle has greater significance.
The lateral collision avoidance active steering implementation method of simulation test stand is as shown in Figure 4, comprising:
Driver is believed by the output of the rotary angle transmitter being installed on steering wheel and the torque sensor of EPS assist motor
It number is input in MicroAutobox by CAN bus and data collecting card, realizes software and hardware interaction.Control plan in host computer
EPS controller is slightly sent commands to by CAN bus, to realize PWM direct torque to EPS assist motor, is turned to acting on
To the offer assisted diversion torque of mechanism.
Except assisted diversion is realized by directly applying steering moment, it also can use the internal outboard wheels of ESP system and impose
Different braking torque provides additional yaw moment to vehicle and completes to turn to collision avoidance.The row of automobile must be taken into consideration in urgent collision avoidance process
Stability is sailed, it can be by detecting the parameters such as yaw rate and side slip angle in CarSim, then by Simulink
The determination of stability program write judge automobile whether unstability, ESP hydraulic braking in control braking system can also be passed through
System corrects vehicle attitude.Magnetic powder brake is loaded to apply to steering system, and the severity of braking of magnetic powder brake can be with
On-line control.Steering load can be adjusted according to simulated environment so in real time, be manipulated on different road surfaces to drive simulating person
Feel when steering wheel, so that the rack is closer to truth.
Active collision avoidance Controlling model uses the Model Predictive Control of more optimization aims, and tracking target collision avoidance path avoids collision
Generation, and prevent vehicle loss of stability, while improving driver to the acceptance level of control system.As shown in figure 5, its
In, ytIt is target vehicle speed for pilot model output trajectory, u, y is auto model output trajectory, yeFor track feedback error,
For prediction model output trajectory.Model includes that reference locus, on-line optimization, prediction model and feedback compensation four are most of.With reference to
Track includes vehicle movement track, yaw velocity track and vehicle acceptance track.The dynamic for considering process, avoids
Input and output acute variation, when target value is step change type, using exponential function as its reference locus.On-line optimization is with road
Diameter tracking accuracy, stability and driver's collision avoidance auxiliary acceptance are that target carries out rolling optimization.Feedback compensation model is according to reality
Border and prediction outlet chamber error correction prediction model, improve its accuracy.The implementation method of active collision avoidance Controlling model include with
Lower step:
The reference locus of S1, input including vehicle movement track, yaw velocity track and vehicle acceptance track；
S2, using path trace precision, driver's collision avoidance acceptance and intact stability as target, design cost function, and
Minimum input changing value under line solver minimum deflection:
Wherein, k is simulation step length, ypIt (k) is control object reference track, yrIt (k) is system output trajectory, Δ u (k) is
The controlling increment of system, Q are prediction output weight coefficient, and R is the weight coefficient of PREDICTIVE CONTROL, nPTo take aim at a number, n in advancecFor control point
Number, i are to take aim at step-length in advance；
S3, minimum input changing value is inputted into the prediction model of vehicle movement track and intact stability respectively and is controlled
Object obtains prediction output valve and real output value；
The prediction model of vehicle movement track are as follows:
Wherein,For state variable derivative, Xe=[xe ye ψe]TTo represent length travel, lateral displacement and course angle
State variable, wherein (x, y) is vehicle centroid position, ψ is course angle, and v is speed, and δ is front wheel angle, and L is preview distance, vr
Spot speed, δ are taken aim in advance for trackrTake aim at a front wheel angle in advance for track,It is expected course angle；
The prediction model of intact stability includes the prediction model of yaw velocity and side slip angle, is respectively as follows:
Wherein, β is side slip angle,For the predicted value of side slip angle, m is complete vehicle quality, VxFor longitudinal speed, lf
It is vehicle mass center away from front axle distance, lrIt is vehicle mass center away from rear axle distance, γ is yaw velocity,For the pre- of yaw velocity
Measured value, C1With C2Respectively front and back wheel cornering stiffness, δ are steering wheel angle, and M is yaw moment, IzFor rotary inertia；
S4, reference locus of the deviation for predicting output valve and real output value to input is subjected to feedback compensation.
Collision avoidance driving behavior analysis method are as follows:
For different drivers, the emergency braking data under different operating conditions, different speeds are acquired, by the number
According to analysis obtain and can distinguish the factor of driver's driving behavior and operating condition, and find out the ginseng automatically controlled as automobile emergency
Number, the further control strategy for formulating automotive correlation prevention.
Claims (10)
1. a kind of driver is in ring Automotive active anti-collision simulation test stand characterized by comprising
Hardware system, including ESP hydraulic brake subsystem and EPS electric power steering subsystem, and according to actual vehicle
Layout；
Data acquisition unit, including multiple sensors and the data collecting card being located in hardware system；
Assemblage on-orbit control unit is connect with the data acquisition unit and hardware system respectively, including display, interconnection
Host computer and rapid prototyping controller, be provided with vehicle and tire model, Driving Scene model, active collision avoidance Controlling model and
Dynamic steering moment of resistance model；
Visual system is connect with the assemblage on-orbit control unit, for generating virtual vehicle running environment；
Driver is according to the output picture of visual system, and by hardware system input brake and turn signal, sensor is adopted
Collection data are input in assemblage on-orbit control unit through data collecting card, while data result is output on display.
2. a kind of driver according to claim 1 is in ring Automotive active anti-collision simulation test stand, which is characterized in that described
ESP hydraulic brake subsystem includes: brake piping, brake caliper, master cylinder, the brake pedal, ESP control of X-type braking system
Molding block；The EPS electric power steering subsystem includes: steering wheel, steering column, steering load simulator, EPS power-assisted electricity
Machine and EPS controller.
3. a kind of driver according to claim 2 is in ring Automotive active anti-collision simulation test stand, which is characterized in that described
Sensor include Wheel cylinder pressure sensors, master cylinder pressure sensor, brake pedal jaw opening sensor, steering wheel angle sensor,
EPS assist motor torque sensor and temperature sensor.
4. a kind of driver according to claim 1 is in ring Automotive active anti-collision simulation test stand, which is characterized in that described
Simulation test stand is configured with starting and emergency stop physical button, status indicator lamp and alarm.
5. a kind of driver according to claim 1 is in ring Automotive active anti-collision simulation test stand, which is characterized in that described
Longitudinal collision avoidance active brake implementation method of simulation test stand includes:
The vacuum boost system of driven by engine in actual vehicle is simulated to driver's driving experience by electronic vacuum pump
It influences, the size of four wheel cylinder brake pressures is dynamically distributed by the movement of the solenoid valve in control ESP hydraulic brake subsystem,
To be controlled to the intensity of emergency braking.
6. a kind of driver according to claim 2 is in ring Automotive active anti-collision simulation test stand, which is characterized in that described
The lateral collision avoidance active steering implementation method of simulation test stand includes:
The host computer realizes PWM direct torque to EPS assist motor by controlling the EPS controller, and passes through control institute
Steering load simulator is stated to simulate steering resisting moment.
7. a kind of driver according to claim 1 is in ring Automotive active anti-collision simulation test stand, which is characterized in that described
The implementation method of active collision avoidance Controlling model the following steps are included:
The reference locus of S1, input including vehicle movement track, yaw velocity track and vehicle acceptance track；
S2, using path trace precision, driver's collision avoidance acceptance and intact stability as target, design cost function, and online
Solve the minimum input changing value under minimum deflection；
S3, the prediction model that minimum input changing value is inputted to vehicle movement track and intact stability respectively and controlled pair
As obtaining prediction output valve and real output value；
S4, reference locus of the deviation for predicting output valve and real output value to input is subjected to feedback compensation.
8. a kind of driver according to claim 6 is in ring Automotive active anti-collision simulation test stand, which is characterized in that described
Minimum input changing value are as follows:
Wherein, k is simulation step length, ypIt (k) is control object reference track, yrIt (k) is system output trajectory, Δ u (k) is system
Controlling increment, Q be prediction output weight coefficient, R be PREDICTIVE CONTROL weight coefficient, nPTo take aim at a number, n in advancecFor control point
Number, i are to take aim at step-length in advance.
9. a kind of driver according to claim 6 is in ring Automotive active anti-collision simulation test stand, which is characterized in that described
The prediction model of vehicle movement track are as follows:
Wherein,For state variable derivative, Xe=[xe ye ψe]TTo represent length travel, lateral displacement and the state of course angle
Variable, wherein (x, y) is vehicle centroid position, ψ is course angle, and v is speed, and δ is front wheel angle, and L is preview distance, vrFor rail
Mark takes aim at spot speed, δ in advancerTake aim at a front wheel angle in advance for track,It is expected course angle；
The prediction model of the intact stability includes the prediction model of yaw velocity and side slip angle, is respectively as follows:
Wherein, β is side slip angle,For the predicted value of side slip angle, m is complete vehicle quality, VxFor longitudinal speed, lfIt is whole
Vehicle mass center is away from front axle distance, lrIt is vehicle mass center away from rear axle distance, γ is yaw velocity,For the predicted value of yaw velocity,
C1With C2Respectively front and back wheel cornering stiffness, δ are steering wheel angle, and M is yaw moment, IzFor rotary inertia.
10. a kind of driver according to claim 1 is in ring Automotive active anti-collision simulation test stand, which is characterized in that institute
The data in dynamic steering moment of resistance model are stated from vehicle and tire model, including stationary vehicle and two states of vehicle movement
Under steering resistence model, be respectively as follows:
Ts=Fyt
Wherein, TfIndicate steering resisting moment when stationary vehicle, μ is coefficient of friction of rest, and p is tire pressure, FzIt is vertical for tire
Load；TsSteering resisting moment when for vehicle movement, t are distance of the front-wheel stub apart from front-wheel, FyIt is tire by lateral force:
Wherein, CαFor cornering stiffness, α is side drift angle, and σ is slip rate, and lambda definition is as follows:
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| CN113002522A (en) * | 2021-03-17 | 2021-06-22 | 镇江康飞汽车制造股份有限公司 | ESP and EPS combined system for vehicle emergency steering and collision avoidance and control method thereof |
| CN113485298A (en) * | 2021-07-15 | 2021-10-08 | 广州南洋理工职业学院 | Electric automobile torque active distribution system control strategy test platform |
| CN113962011A (en) * | 2021-07-23 | 2022-01-21 | 北京交通大学 | Electric automobile braking system model and establishing method thereof |
| CN113642104A (en) * | 2021-07-26 | 2021-11-12 | 一汽奔腾轿车有限公司 | Tire matching simulation test system and method for optimizing AEB braking distance performance |
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