CN109835329A - Automobile emergency anti-collision system control algolithm - Google Patents
Automobile emergency anti-collision system control algolithm Download PDFInfo
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- CN109835329A CN109835329A CN201711194181.6A CN201711194181A CN109835329A CN 109835329 A CN109835329 A CN 109835329A CN 201711194181 A CN201711194181 A CN 201711194181A CN 109835329 A CN109835329 A CN 109835329A
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Abstract
The present invention relates to automobile emergency anti-collision systems, more particularly to a kind of automobile emergency anti-collision system control algolithm, vehicle can be controlled to travel according to designed predetermined lane change track at high speeds, and it is with good stability, the urgent lane change collision prevention control system performance of fuzzy is demonstrated better than simple PID control system and the system without controller.Designed urgent lane change collision prevention control system has stronger adaptability to controlled parameter while quick response, can satisfy the need that environmental information adjusts in real time in practical urgent collision avoidance operating condition.
Description
Technical field
The present invention relates to automobile emergency anti-collision systems, and in particular to a kind of automobile emergency anti-collision system control algolithm.
Background technique
Automotive active anti-collision system have become both at home and abroad emphatically research active safety technologies, the system according to road conditions with
The integrated informations such as vehicle condition judge that automobile whether there is risk of collision, and the measures such as braking, steering is in case of emergency taken to make vapour
Car owner moves avoiding obstacles, it is ensured that vehicle safe driving, to achieve the purpose that improve traffic safety.
In recent years, domestic and foreign scholars have made intensive studies early warning/collision algorithm of Active collision avoidance system, and achieve
Some achievements.In dangerous working condition, what the hedging strategy that driver takes avoided traffic accident often by urgent lane change
Occur, which can make vehicle avoid front obstacle in the case where manipulating situation appropriate in relatively short distance, and keep vehicle
The stability of traveling.But in the case where working as driver's operation error, it is easy to the accident of vehicle collision occur.
Summary of the invention
It is an object of the invention to solve above-mentioned technical problem, automobile emergency anti-collision system control algolithm is provided, can be controlled
Vehicle processed is travelled according to designed predetermined lane change track at high speeds, with good stability.
In order to solve the above technical problems, present invention employs automobile emergency anti-collision system control algolithm, (I) vehicle appearance speed tune
The whole stage (0, ta)
taFor vehicle appearance speed adjustment time, s.Time of driver's reaction need not be considered when urgent collision avoidance operating condition, must consider to disappear
Except brake clearance time t1With build-up time of braking force t2, t1Take 0.2s, t2Take 0.2s.Suitably slow down on original lane from vehicle
And vehicle body attitude is adjusted, select suitable lane-change gap.
u(ta)=uo- ata；
Wherein: u (ta) it is from vehicle taMoment speed, m/s；u0For from vehicle initial velocity, m/s；A is from vehicle deceleration, m/
s2；D1For 0~taWhen longitudinal driving be displaced, m.
(II) lane-change collision avoidance stage (ta, tc)
From vehicle with certain speed lane-change, point t is hit until reaching maximum and facingc(steering angle is travelled from vehicleWhen maximum), lengthwise rows
Sailing displacement is D2:
D2=u (ta)(tc- ta)。
(III) adjacent lane adjusting stage (tc, ta+te)
Into after adjacent lane, adjusts itself speed and be extremely in safe condition with fellow road-users.Based on lane-change mistake
The variation tendency (first increase and subtract afterwards) of side velocity in journey uses SIN function lane-changing model, side from the side acceleration of vehicle
To Fast track surgery are as follows:
Wherein: H is lane-change side lane width, m；ayFor side acceleration, m/s2；teFor lane change time, s.
Extreme value is asked to obtain maximum lateral deceleration a
From vehicle lateral displacement l2It must meet:
Wherein, lwFor from vehicle-width, m；l1For barrier edge and lane center line width, m.
When urgent anti-collision system arrives at possible point of collision, longitudinal direction of car operating range is D:
D derivation is obtained:
u0- ata- a (tc- ta)=0.
Consider length of wagon, and guarantees that vehicle does not collide during entire lane change with preceding object, safe distance
Da are as follows: Da=D+lLCos θ+d,
Wherein: lLFor from vehicle vehicle commander, m；D is static security distance, m；θ is the course that vehicle reaches collision critical moment
Angle, rad.
The utility model has the advantages that the urgent lane change collision prevention control system of the technical program, can control vehicle possessed by of the invention
It is travelled at high speeds according to designed predetermined lane change track, and with good stability, it is tight to demonstrate fuzzy
Sudden turn of events road collision prevention control system performance is better than simple PID control system and the system without controller.Designed urgent lane change
Collision prevention control system has stronger adaptability to controlled parameter while quick response, can satisfy practical urgent collision avoidance
The demand that environmental information adjusts in real time in operating condition.
Detailed description of the invention
Fig. 1 is lane-change collision avoidance illustraton of model of the invention；
Fig. 2 is the structure chart of urgent collision prevention control system of the invention.
Specific embodiment
The present invention will be further described below with reference to the drawings.
As shown in Figure 1, present invention offer automobile emergency anti-collision system control algolithm, (I) vehicle appearance speed adjusting stage (0,
ta)
taFor vehicle appearance speed adjustment time, s.Time of driver's reaction need not be considered when urgent collision avoidance operating condition, must consider to disappear
Except brake clearance time t1With build-up time of braking force t2, t1Take 0.2s, t2Take 0.2s.Suitably slow down on original lane from vehicle
And vehicle body attitude is adjusted, select suitable lane-change gap.
u(ta)=uo- ata；
Wherein: u (ta) it is from vehicle taMoment speed, m/s；u0For from vehicle initial velocity, m/s；A is from vehicle deceleration, m/
s2；D1For 0~taWhen longitudinal driving be displaced, m.
(II) lane-change collision avoidance stage (ta, tc)
From vehicle with certain speed lane-change, point t is hit until reaching maximum and facingc(steering angle is travelled from vehicleWhen maximum), lengthwise rows
Sailing displacement is D2:
D2=u (ta)(tc- ta)。
(III) adjacent lane adjusting stage (tc, ta+te)
Into after adjacent lane, adjusts itself speed and be extremely in safe condition with fellow road-users.Based on lane-change mistake
The variation tendency (first increase and subtract afterwards) of side velocity in journey uses SIN function lane-changing model, side from the side acceleration of vehicle
To Fast track surgery are as follows:
2. automobile emergency anti-collision system control algolithm according to claim 1, in which: H is lane-change side lane width,
m；ayFor side acceleration, m/s2；teFor lane change time, s.
Extreme value is asked to obtain maximum lateral deceleration a
From vehicle lateral displacement l2It must meet:
3. automobile emergency anti-collision system control algolithm according to claim 2, in which: lwFor from vehicle-width, m；l1For
Barrier edge and lane center line width, m.
When urgent anti-collision system arrives at possible point of collision, longitudinal direction of car operating range is D:
D derivation is obtained:
u0- ata- a (tc- ta)=0.
Consider length of wagon, and guarantees that vehicle does not collide during entire lane change with preceding object, safe distance
DaAre as follows: Da=D+lLCos θ+d,
Wherein: lLFor from vehicle vehicle commander, m；D is static security distance, m；θ is the course that vehicle reaches collision critical moment
Angle, rad.
Conventional proportional-Integrated Derivative control has parameter modification adjusting inconvenience, does not adapt to error and error rate wave
Move larger disadvantage.And fuzzy control can be pushed away independent of object model according to the multidate information and control rule of system
Reason has stronger robustness, but it is slightly lower to control precision to obtain suitable control amount.Fuzzy-adaptation PID control is to combine PID
Control and a kind of control mode for obtaining of fuzzy control, vital task be find out the proportionality coefficient of PID, integration time constant and
The derivative time constant fuzzy relation between error e and error rate ec respectively.Constantly detection e and ec in operation, root
On-line tuning is carried out to 3 parameters according to determining fuzzy control rule, meets different e and ec and 3 the different of parameter is required.
Desired steering wheel angle δswIt can be derived from by vehicle inverse dynamics model:
δsw=ayiL/u2+ayILK,
Wherein: u is Vehicle Speed, m/s；L is vehicle wheelbase, m；I is steering system transmission ratio；K be stability because
Number.
Fig. 2 is the structure chart of urgent collision prevention control system, and the input of controller is the ideal value a of side accelerationyWith reality
Actual value asDeviation ae；Output is through fuzzy controller treated side acceleration ac, for being input to vehicle reserve motion power
Learn system model；And δswIt is the output of vehicle inverse dynamics system as steering wheel angle signal, is input to 7 freedom degree of automobile
Kinetic model.Auto model parameter is as shown in table 1.
1 auto model parameter of table
The urgent lane change collision prevention control system of the technical program, can control vehicle at high speeds according to designed
Predetermined lane change track traveling, and it is with good stability, it is excellent to demonstrate the urgent lane change collision prevention control system performance of fuzzy
In simple PID control system and without the system of controller.Designed urgent lane change collision prevention control system is in quick response
There is stronger adaptability to controlled parameter simultaneously, can satisfy what environmental information in practical urgent collision avoidance operating condition adjusted in real time
Demand.
The description and the appended drawings of the invention be considered as it is illustrative and not restrictive, on the basis of the present invention, ability
According to disclosed technology contents, some of technical characteristics can be made field technique personnel by not needing creative labor
Some replacements and deformation, are within the scope of the invention.
Claims (1)
1. automobile emergency anti-collision system control algolithm, the specific steps of which are as follows:
(I) the vehicle appearance speed adjusting stage (0, ta)
taFor vehicle appearance speed adjustment time, s.Time of driver's reaction need not be considered when urgent collision avoidance operating condition, must consider to eliminate braking
Off time t1With build-up time of braking force t2, t1Take 0.2s, t2Take 0.2s.Suitably slow down and adjust on original lane from vehicle
Vehicle body attitude selects suitable lane-change gap.
u(ta)=uo- ata；
Wherein: u (ta) it is from vehicle taMoment speed, m/s；u0For from vehicle initial velocity, m/s；A is from vehicle deceleration, m/s2；D1For
0~taWhen longitudinal driving be displaced, m.
(II) lane-change collision avoidance stage (ta, tc)
From vehicle with certain speed lane-change, point t is hit until reaching maximum and facingc(steering angle is travelled from vehicleWhen maximum), longitudinal driving position
Moving is D2:
D2=u (ta)(tc- ta)。
(III) adjacent lane adjusting stage (tc, ta+te)
Into after adjacent lane, adjusts itself speed and be extremely in safe condition with fellow road-users.During lane-change
The variation tendency (first increase and subtract afterwards) of side velocity uses SIN function lane-changing model from the side acceleration of vehicle, lateral to add
Rate pattern are as follows:
Wherein: H is lane-change side lane width, m；ayFor side acceleration, m/s2；teFor lane change time, s.
Extreme value is asked to obtain maximum lateral deceleration a
From vehicle lateral displacement l2It must meet:
Wherein: lwFor from vehicle-width, m；l1For barrier edge and lane center line width, m.
When urgent anti-collision system arrives at possible point of collision, longitudinal direction of car operating range is D:
D derivation is obtained:
u0- ata- a (tc- ta)=0.
Consider length of wagon, and guarantees that vehicle does not collide during entire lane change with preceding object, safe distance Da are as follows:
Da=D+lLCos θ+d,
Wherein: lLFor from vehicle vehicle commander, m；D is static security distance, m；θ is the course angle that vehicle reaches collision critical moment, rad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711194181.6A CN109835329A (en) | 2017-11-24 | 2017-11-24 | Automobile emergency anti-collision system control algolithm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711194181.6A CN109835329A (en) | 2017-11-24 | 2017-11-24 | Automobile emergency anti-collision system control algolithm |
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| Publication Number | Publication Date |
|---|---|
| CN109835329A true CN109835329A (en) | 2019-06-04 |
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ID=66877322
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466515A (en) * | 2019-08-28 | 2019-11-19 | 湖北亿咖通科技有限公司 | A kind of auxiliary vehicle carries out the method and vehicle of urgent avoidance |
| CN110588645A (en) * | 2019-09-02 | 2019-12-20 | 武汉格罗夫氢能汽车有限公司 | Automatic emergency lane changing method and control system for avoiding collision of hydrogen energy automobile |
| CN111645677A (en) * | 2020-05-20 | 2020-09-11 | 吉林大学 | Vehicle braking and steering coordinated control emergency anti-collision system and control method |
| CN111873990A (en) * | 2020-07-15 | 2020-11-03 | 哈尔滨理工大学 | Lane changing collision avoidance device and method suitable for high-speed emergency working condition |
-
2017
- 2017-11-24 CN CN201711194181.6A patent/CN109835329A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466515A (en) * | 2019-08-28 | 2019-11-19 | 湖北亿咖通科技有限公司 | A kind of auxiliary vehicle carries out the method and vehicle of urgent avoidance |
| CN110588645A (en) * | 2019-09-02 | 2019-12-20 | 武汉格罗夫氢能汽车有限公司 | Automatic emergency lane changing method and control system for avoiding collision of hydrogen energy automobile |
| CN111645677A (en) * | 2020-05-20 | 2020-09-11 | 吉林大学 | Vehicle braking and steering coordinated control emergency anti-collision system and control method |
| CN111873990A (en) * | 2020-07-15 | 2020-11-03 | 哈尔滨理工大学 | Lane changing collision avoidance device and method suitable for high-speed emergency working condition |
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Application publication date: 20190604 |