基于车车协同的汽车换道避撞控制策略研究
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摘要
在汽车先进驾驶辅助系统研究中,针对典型的换道场景展开分析,采用V2V/V2X的思想,从车辆运动学角度出发,综合考虑相对速度、相对距离、冲突时间等影响因素,提出在传统自适应巡航控制系统中添加换道调速避撞控制策略。使用Prescan软件搭建典型的换道虚拟交通场景,在车辆上设置无线通信装置,通过MATLAB/Simulink软件添加控制模块进行联合仿真,验证汽车辅助驾驶换道避撞控制。仿真实验表明,提出的换道避撞控制策略,可有效避免车辆在换道过程中发生碰撞。
In the research of advanced driving assistance system of automobiles,for the analysis of typical lane change scenarios,based on the V2 V/V2 Xidea,starting from the perspective of vehicle kinematics,with the comprehensive consideration of the relative speed,the relative longitudinal distance,the evaluation index TTC(time to collision)and other influential factors,a lane changing speed regulation collision avoidance control strategy added in the traditional adaptive cruise control system was proposed.A virtual lane changing scenario was developed by the united simulation of MATLAB/Simulink and Prescan to verify the control strategy.The experimental results show that the proposed lane changing collision avoidance control strategy can avoid collisions in the lane changing process effectively.
In the research of advanced driving assistance system of automobiles,for the analysis of typical lane change scenarios,based on the V2 V/V2 Xidea,starting from the perspective of vehicle kinematics,with the comprehensive consideration of the relative speed,the relative longitudinal distance,the evaluation index TTC(time to collision)and other influential factors,a lane changing speed regulation collision avoidance control strategy added in the traditional adaptive cruise control system was proposed.A virtual lane changing scenario was developed by the united simulation of MATLAB/Simulink and Prescan to verify the control strategy.The experimental results show that the proposed lane changing collision avoidance control strategy can avoid collisions in the lane changing process effectively.
引文
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[2]党睿娜.具有换道辅助功能的车辆自适应巡航控制[D].北京:清华大学,2013.
[3]公安部交通管理局.中华人民共和国道路交通事故统计年报[R].北京:公安部交通管理局,2010.
[4]王畅,郭应时,郑楚清.基于七次多项式的智能车换道轨迹规划与仿真[C]∥2012中国汽车工程学会汽车安全技术学术会议,2012:12-15.
[5]张凯,刘军,后士浩,等.基于Simulink的换道防碰撞预警建模与仿真分析[J].重庆理工大学学报(自然科学),2018(2):46-53.
[6]唐阳山,朱停仃,李栋梁,等.基于纵向安全距离的车辆换道模型研究[J].辽宁工业大学学报(自然科学版),2017,37(4):272-276.
[7]Visvikis C,Smith T,Pitcher M,et al.Study on lane departure warning and lane change assistant systems[R].UK:Transport Research Laboratory,2008.
[8]阳路.汽车前方防撞系统中安全预警算法研究[D].成都:西南石油大学,2015.
[9]凌滨,宋梦实,邢键,等.汽车自适应巡航系统的多性能指标控制算法[J].机械科学与技术,2018(5):690-697.
[10]王畅,付锐,张琼,等.换道预警系统中参数TTC特性研究[J].中国公路学报,2015,28(8):91-100.