基于功能分配与多目标模糊决策的转向与制动协同避撞控制
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摘要
针对某些紧急工况下单一转向或单一制动控制不能有效避撞或避撞时操纵稳定性较差的问题,提出一种新的基于功能分配与多目标模糊决策的转向与制动协同避撞控制策略。根据自车道上自车与前车运动关系及自车与相邻车道前车运动关系,分别建立转向与制动安全距离模型和控制器。功能分配控制器运用多目标模糊决策来确定转向与制动控制器的功能分配系数,从而实现功能分配控制。应用Car Sim与Simulink进行联合仿真,结果表明:协同控制策略能够有效避撞,而且有良好的操纵稳定性。
Aiming at the problems that the single control of steering or braking failed to avoid the collision or had poor handling stability under some emergency situation,a new cooperative control strategy of steering lane change and longitudinal braking based on function allocation and multi-objective fuzzy decision was put forward. According to the analysis of the motion relations of own vehicle to the preceding vehicle in own lane and to the preceding vehicle in adjacent lanes,the corresponding safety distance models and controllers of steering and braking were respectively set up.The function allocation controller was designed by using multi-objective fuzzy decision to decide the function allocation. The algorithm was simulated based on Car Sim and Simulink. Results indicate that the cooperative control strategy of steering and braking can avoid the collision,and have good handling stability.
Aiming at the problems that the single control of steering or braking failed to avoid the collision or had poor handling stability under some emergency situation,a new cooperative control strategy of steering lane change and longitudinal braking based on function allocation and multi-objective fuzzy decision was put forward. According to the analysis of the motion relations of own vehicle to the preceding vehicle in own lane and to the preceding vehicle in adjacent lanes,the corresponding safety distance models and controllers of steering and braking were respectively set up.The function allocation controller was designed by using multi-objective fuzzy decision to decide the function allocation. The algorithm was simulated based on Car Sim and Simulink. Results indicate that the cooperative control strategy of steering and braking can avoid the collision,and have good handling stability.
引文
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[5]HATTORI Y,ONO E,HOSOE S.Optimum vehicle trajectory control for obstacle avoidance problem[J].IEEE/ASME Transactions on Mechatronics,2006,11(5):507-512.
[6]GALVANI M,BIRAL F,NGUYEN B M,et al.Four wheel optimal autonomous steering for improving safety in emergency collision avoidance manoeuvres[C]//IEEE,International Workshop on Advanced Motion Control.USA:IEEE,2014:362-367.
[7]CHEN S L,CHENG C Y,HU J S,et al.Strategy and evaluation of vehicle collision avoidance control via hardware-in-the-loop platform[J].Applied Sciences,2016,6(11):327.
[8]CHOI C,KANG Y.Simultaneous braking and steering control method based on nonlinear model predictive control for emergency driving support[J].International Journal of Control Automation&Systems,2017(22):1-9.
[9]余志生.汽车理论[M].5版.北京:机械工业出版社,2012:97-101.
[10]NELSON W.Continuous-curvature paths for autonomous vehicles[C]//IEEE International Conference on Robotics and Automation,1989.Proceedings.USA:IEEE,1989:1260-1264.
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[13]张荣芸,黄鹤,陈无畏,等.基于功能分配与多目标模糊决策的EPS和ESP协调控制[J].机械工程学报,2014,50(6):99-106.