Research Of Vehicle Active Safety Collision Avoidance Control Method Based On Collaborative Simulation

With the rapid development of automobile industry, it has brought the more traffic accidents by the problem of traffic safety, most countries have pay more and more attention to the traffic safety. In order to reduce and prevent the happening of the accident, the vehicle active safety technology has become a hot issue and technological frontier in the field of safety. Based on the research of the active collision avoidance control method, it can reduce collision damage degree as much as possible, which has great significance to improve the road traffic safety. Funded by the national natural science fund project (61104165、 51305065) and the fundamental research funds for central universities(DUT13JS02), this paper proposes active safety control method based on collaborative simulation in the vehicle active safety control fields, mainly including the vehicle longitudinal braking control system and vehicle lateral lane-change control system.In order to establish the vehicle model which can meet its real complex operation condition operational needs and reflect the system dynamic characteristic and balance model accuracy and simplicity, firstly, based on Carsim software the complex vehicle dynamics model is established to meet the requirements of active collision avoidance system, and on this basis, the vehicle inverse longitudinal dynamics model and the vehicle lateral dynamics model are established, preparing for the realization of the function of automobile active collision avoidance control system.According to different dangerous collision avoidance scenarios, the corresponding collision avoidance control systems are designed in this paper, including the longitudinal braking control system and lateral lane-changing control system. Combining the longitudinal braking and lateral lane-changing is more advantageous to realize the safety of the vehicle collision avoidance. In the process of longitudinal braking collision avoidance control system, the deceleration braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control, and the emergency braking controller is designed based on the single neuron PID control when confronting emergency conditions. In the lateral lane-changing control system, this paper proposes a suitable trajectory tracking method for vehicle lane changing collision avoidance, and the vehicle lane-changing collision avoidance controller is designed based on fast terminal sliding mode control method, realizing the vehicle tracking to the expect lane-changing trajectory. To verify the feasibility and accuracy of collision avoidance control system, co-simulations are carried out by the combination of the vehicle dynamics model in Carsim and the active collision avoidance control system in the Simulink. Through the experimental simulation results, it can be indicated that the controller can realize the deceleration braking, emergency brake or lane-changing in accordance with the expectation of lane changing trajectory when there is a pedestrian or vehicle ahead of the host vehicle. At the same time, the feasibility, robustness and effectiveness of the designed vehicle active collision avoidance control systems are verified in different risk scenarios, which have a great significance for research on vehicle active safety.