针对纯电动汽车制动避撞系统,提出了基于反馈线性化的跟车距离、速度跟踪误差的滑模控制方法;考虑了模型非线性、系统参数不确定性和外部干扰的因素,建立车辆纵向动力学模型;采用指数趋近律的控制方法,设计了一种双输入双输出的汽车避撞系统控制器;并进行了跟车场景下制动避撞控制器的仿真.结果表明:该控制器避撞控制效果明显,在保证汽车行驶的舒适性的同时,跟车过程的跟踪误差小.%Aiming at the braking-based collision avoidance system in battery electric vehicle (BEV), a sliding mode control scheme is proposed based on feedback linearization for vehicle following distance and speed tracking error. A vehicle longitudinal dynamics model is constructed with consideration of the model nonlinearity, the uncertainty of system parameters and external disturbances. A control method with exponential reaching law is a-dopted,a controller for vehicle collision avoidance system with double inputs and double outputs is designed,and a simulation is conducted on braking-based collision avoidance controller under a scene of vehicle following. The re-sults show that the controller designed has obvious collision avoidance effects with a small tracking error in vehicle following process,while ensuring vehicle driving comfort.
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