基于路面识别的汽车紧急避撞控制算法

摘要

A control algorithm, which combined the lane changing for collision avoidance under different road conditions with the adaptive cruise control, was established to deal with the dangerous conditions of emergency braking from the preceding vehicle. The scene model of emergency collision avoidance was proposed based on PreScan software, and the recursive least square algorithm was used to discriminate of road surface. The path for collision avoidance was planned based on distinguishable road, and the distance model which met the multivehicles movement constraints for the safety of lane changing was set. The collision avoidance system was used to monitor the motion states of vehicles to control of the vehicle to change lane for collision avoidance. The adaptive cruise control was used to keep a safety distance to avoid the rear collision between the own vehicle and the preceding vehicle in slow lane. The results show that the proposed algorithm was verified to be effective based on the co-simulation of PreScan and Matlab / Simulink, and the vehicle can avoid collision safely on the bituminous and ice-snow road.%针对不同道路条件下前方行驶汽车突然紧急制动的危险工况,提出一种适应不同路面条件的换道避撞控制与自适应巡航控制相结合的控制算法.基于PreScan软件搭建紧急避撞场景模型,利用递推最小二乘法进行路面辨识;基于辨识的路面规划避撞路径,建立适应多车运动约束的换道安全距离模型;避撞系统实时监测车辆运动状态,危险工况下控制车辆进行换道避撞操纵,并采用自适应巡航控制避免车辆换入低速车道时与该车道车辆追尾.结果表明:基于PreScan与Matlab/Simulink的联合仿真验证了该算法的有效性,车辆均能在沥青和冰雪路面上安全稳定地避撞.