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基于可拓决策法的车辆自适应避撞控制方法研究

陈翔 程硕 赵万忠 王春燕 蒋睿

陈翔, 程硕, 赵万忠, 王春燕, 蒋睿. 基于可拓决策法的车辆自适应避撞控制方法研究. 力学学报, 待出版 doi: 10.6052/0459-1879-22-347
引用本文: 陈翔, 程硕, 赵万忠, 王春燕, 蒋睿. 基于可拓决策法的车辆自适应避撞控制方法研究. 力学学报, 待出版 doi: 10.6052/0459-1879-22-347
Chen Xiang, Cheng Shuo, Zhao Wanzhong, Wang Chunyan, Jiang Rui. Extension-decision-based adaptive collision avoidance control for vehicles. Chinese Journal of Theoretical and Applied Mechanics, in press doi: 10.6052/0459-1879-22-347
Citation: Chen Xiang, Cheng Shuo, Zhao Wanzhong, Wang Chunyan, Jiang Rui. Extension-decision-based adaptive collision avoidance control for vehicles. Chinese Journal of Theoretical and Applied Mechanics, in press doi: 10.6052/0459-1879-22-347

基于可拓决策法的车辆自适应避撞控制方法研究

doi: 10.6052/0459-1879-22-347
基金项目: 国家自然科学基金(52002211)和江苏省重点研发计划(BE2022053-3)资助项目
详细信息
    作者简介:

    陈翔, 副研究员, 主要研究方向: 车辆动力学与控制. E-mail: chenxiang21@nuaa.edu.cn

    赵万忠, 教授, 主要研究方向: 车辆线控底盘与自动驾驶技术. E-mail: zwz@nuaa.edu.cn

  • 中图分类号: U463.33

EXTENSION-DECISION-BASED ADAPTIVE COLLISION AVOIDANCE CONTROL FOR VEHICLES

  • 摘要: 车辆的避撞控制可以有效避免或缓解车辆的碰撞事故, 是自动驾驶汽车的关键控制技术之一. 各种交通条件、不确定的道路附着系数以及复杂的液压制动执行系统都会降低避撞控制的有效性. 因此, 本文提出了一种基于可拓决策法的自适应避撞控制, 该控制方法对路面附着系数具有自适应性, 并能够精确控制制动系统的制动液压力. 首先, 设计了滑模观测器来估计轮胎纵向力, 并基于观测得到的轮胎纵向力, 进一步提出带遗忘因子的递推最小二乘法估计道路附着系数. 其次, 基于递推最小二乘法的估计值, 提出了基于路面附着系数自适应调节的自适应避撞控制方法, 该方法基于可拓决策法的先决判定决定当前时刻应采用何种避撞控制策略, 即采用可拓决策方法判断进行点刹预警制动、全制动或者不制动. 再次, 通过对执行系统-电控液压制动系统进行精确的液压控制, 实现主动减速控制效果, 最后, 采用软件联合仿真手段对上述方法进行了验证, 结果表明所提出的算法在避撞行驶工况中具有良好的避撞效果.

     

  • 图  1  纵向车辆动力学模型

    Figure  1.  The longitudinal vehicle dynamics model

    图  2  各轮胎纵向力与纵向滑移率的关系

    Figure  2.  The relationship between the longitudinal tire force and longitudinal slip ratio of each tire

    图  3  ACAC的框架图

    Figure  3.  The framework of the proposed ACAC

    图  4  二维可拓集的3个域

    Figure  4.  Three domains of the two-dimensional extension set

    图  5  装有各种传感器和设备的试验车

    Figure  5.  The experiment car with various sensors and equipment

    图  6  ADC方案

    Figure  6.  The scheme of the proposed ADC

    图  7  增压和减压速率的校准结果

    Figure  7.  The calibration result of the supercharging and decompression rate

    图  8  CarSim中的一种紧急避撞场景

    Figure  8.  A collision avoidance emergency scenario in CarSim

    图  9  前方车辆与自身车辆间的纵向速度和距离

    Figure  9.  The longitudinal velocity and distance between the preceding and ego vehicle

    图  10  实际和估计的轮胎纵向力

    Figure  10.  The actual and estimated longitudinal tire force

    图  11  实际和估计的路面摩擦系数

    Figure  11.  The actual and estimated road friction coefficient

    图  12  避撞策略

    Figure  12.  The collision avoidance strategy

    图  13  预期和实际的纵向加速度

    Figure  13.  The desired and actual longitudinal acceleration

    图  14  四轮的轮缸液压压力

    Figure  14.  The wheel cylinder hydraulic pressure of four wheels

    表  1  系统主要参数表

    Direct measurement statesObserved states
    Tire rotation rate ${\omega _{ij}}$Road adhesion coefficient $\mu $
    Longitudinal acceleration $\dot u$Tire longitudinal force ${F_{xij}}$
    Tire longitudinal force $u$Tire vertical force ${F_{zi}}$
    下载: 导出CSV
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出版历程
  • 收稿日期:  2022-07-28
  • 录用日期:  2022-11-11
  • 网络出版日期:  2022-11-12

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