基于碰撞风险评估的智能汽车主动制动与主动悬架协调控制研究
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- 英文论文题名：The Research of Coordination Control of Active Suspension and Active Braking of Intelligent Vehicle Based on the Collision Risk Estimation
- 论文作者：任玥 ; 郑玲 ; 杨威 ; 李以农 ; 王科 ; 詹振飞 ; 黎予生 ; 熊周兵 ; 张强
- 英文论文作者：Ren Yue ; Zheng Ling ; Yang Wei ; Li Yinong ; Wang Ke ; Zhan Zhenfei ; Li Yusheng ; Xiong Zhoubing ; Zhang Qiang ; Automotive engineering college of Chongqing University ; State key laboratory of mechanical transmission ; Changan automotive global R&D center
- 年：2016
- 作者机构：重庆大学汽车工程学院,机械传动国家重点实验室;长安汽车工程研究院;
- 论文关键词：碰撞风险 ; 主动制动 ; 主动悬架 ; 协调控制 ; 多目标优化
- 英文论文关键词：collision risk ; automatic brake ; active suspension ; coordination control ; multi-object
- 会议召开时间：2016-10-26
- 会议录名称：2016中国汽车工程学会年会论文集
- 英文会议录名称：Proceedings of 2016 SAE-China Congress
- 语种：中文
- 分类号：U463
- 学会代码：QCGC
- 会议名称：2016中国汽车工程学会年会暨展览会
- 会议地点：中国上海
- 主办单位：中国汽车工程学会
- 学会名称：中国汽车工程学会
- 页数：9
- 文件大小：1830k
- 原文格式：O
- 会议级别：全国
摘要
本文首先建立车辆碰撞风险评估模型,根据车辆碰撞风险预判结果,研究了基于预警、辅助制动以及紧急制动的分段式自动避撞的主动制动控制策略。针对辅助制动以及紧急制动带来的舒适性恶化问题,建立了车辆行驶动力学模型,分别以预警、辅助制动以及紧急制动的车辆安全性、舒适性为目标,研究了主动悬架协调控制策略。研究结果表明:针对不同的主动制动控制阶段,通过主动悬架的协调控制,能明显改善不同阶段的舒适性和安全性的权重,从而提高智能车辆在自动避撞过程中的工况适应性。
The collision risk model based on the distance and relative velocity of front vehicle is established and the three- step automatic braking strategy based on the is risk prediction result is proposed.According to the deterioration of the comfort caused by the automatic braking,the 7-DOF vehicle vibration model is established.Then the multi-object coordination control strategy of active suspension with vehicle safety and comfort under different conditions of early warning,auxiliary braking and emergency braking is proposed.The combined simulation shows that:according to the different active braking stage,the coordination suspension control can adjust the weight of vehicle safety and comfort to improve the adaptability of the intelligent vehicle at the process of automatic collision avoidance.
The collision risk model based on the distance and relative velocity of front vehicle is established and the three- step automatic braking strategy based on the is risk prediction result is proposed.According to the deterioration of the comfort caused by the automatic braking,the 7-DOF vehicle vibration model is established.Then the multi-object coordination control strategy of active suspension with vehicle safety and comfort under different conditions of early warning,auxiliary braking and emergency braking is proposed.The combined simulation shows that:according to the different active braking stage,the coordination suspension control can adjust the weight of vehicle safety and comfort to improve the adaptability of the intelligent vehicle at the process of automatic collision avoidance.
引文
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[3]裴晓飞,刘昭度,马国成,等.汽车自适应巡航系统的多模式切换控制[J].机械工程学报,2012,48(10):96-102.
[4]Wada T,Tsuru N,Isaji K,et al.Characterization of Expert Drivers'last-second Braking and Its Application to a Collision Avoidance System[J].Intelligent Transportation Systems,IEEE Transactions,2010,11(2):413-422.
[5]Eckert A,HartmannB,Sevenich M,et al.Emergency steer/brake assist:a systematic approach for system integration of the complementary driver assistance systems[C/CD]//Proc 22~(nd)Int Technical conf Enhanced Safety of Vehicle.Washington DC:NHTSA,2011.
[6]Zhang Y,Antonsson E K,Grote K.A New Threat Assessment Measure for Collision Avoidance Systems[C].Proceedings of the IEEE ITSC 2006.Toronto:IEEE,2006:968-975.
[7]United Nations.Regulation No.AEBS.Uniform Provisions Concerning the Approval of Motor Vehicles with Regard to the Advanced Emergency Braking System[S].E/ECE/324 E/ECE/TRANS/505 Rev.2/Add.AEBS.
[8]MOON S,YI K.Human driving data-based design of a vehicle adaptive cruise control algorithm[J].Vehicle System Dynamics,2008,46(8):661-690.
[9]李霖,朱西产,董小飞,等.自主紧急制动系统避撞策略的研究[j],汽车工程,2015,37(2):168-174.