The research on the vehicle collision avoidance control based on vehicle motion estimation

摘要

A vehicle motion state estimation model is established based on the millimetre wave radar. The system noise and observation noise are considered and the Kalman filtering algorithm is adopted to estimate the relative distance, relative velocity and relative acceleration of the front vehicle or obstacles. The collision risk model based on the improved TTC (time-to-collision) is established according to the relative motion relationship between the vehicle and front vehicle or obstacle. The automatic emergency braking control strategy based on the collision risk judgement is proposed. Motion estimation algorithm and collision avoidance control strategy are integrated in Prescan software in order to verify their effectiveness. The simulation results shows that the proposed estimation algorithm can supply accurate motion relationship between host vehicle and front vehicle or obstacle. Meanwhile, The proposed collision avoidance control strategy can reduce the collision risk through emergency braking rapidly and effectively.