Research On Cooperative Active Collision Avoidance Control Of Vehicle Based On Vehicle To Vehicle Communication

As one of main parts of the intelligent transportation system,vehicle networking has received widespread concern by people.In order to improve the vehicle's active safety and reduce the rate of traffic accidents,the vehicle to vehicle communication as a carrier of the wireless communication technology,will take an initiative role to improve the safety of the vehicle.Under the condition of vehicle networking,the information perception capability of vehicle will be enhanced significantly by means of inter-vehicular real-time information sharing.With the help of this kind of information network,the vehicles in the road are isolated relatively as one individual no longer,but forming a real-time network which can perceive and share the state information of the vehicles(obstacle)in the surroundings.By fully using of vehicle networking to carry out cooperative response control,the vehicles in the road can greatly reduce or even avoid the occurrence of traffic accidents,especially the rear-end collision.Therefore,under the condition of inter-vehicular wireless communication,it is an important research content to study the active cooperative collision avoidance control strategy so as to improve the active safety of vehicle.Based on the problem described above,in this paper,the research contents as follows:(1)In this paper,from the aspects of real-time requirement,the general nonlinear control system is deduced to a linear time varying control system in detail.(2)According to the influence of vehicle safety distance strategy on vehicle following control,this paper proposes a safe spacing policy that based on the relative motion state of the workshop as the.On the basis of relationship between the following vehicles in the road,the vehicle longitudinal following model is established,then the collision avoidance control problem is converted into quadratic programming problem by using MPC control method.(3)Firstly,in this paper,the characteristics of the vehicle collision avoidance response in the inter-vehicular communication are analyzed.Secondly,the real-time mathematical description of the relative motion state in the control model is formulated by introducing a safety factor.Then,the acceleration collaborative distribution strategy is designed as well as giving a safety spacing criterion.Finally,the situation when exists many vehicles that applied this designed collision avoidance strategy in the road at the same time is proved stable.(4)This paper analyzes the characteristics of the change of the motion state of the vehicle during the collision avoidance response,and studies the expected response performance of the cooperative collision avoidance controller under different relative motion status.The strategy that designed to adjust the real-time weighted values of control variable,which is integrated to the controller of active acceleration distribution cooperative collision avoidance optimization.(5)Based on the conventional vehicle,the vehicle active collision avoidance collaborative control test platform is designed.On this experimental platform,the collaborative avoidance experiment that based on inter-vehicular communication can be carried out,as well as the test and the development of the corresponding control algorithm.The results show that the proposed real-time weighted acceleration distribution coordinated collision avoidance controller can avoid collision reliably.Furthermore,the proposed control strategy can significantly improve the control performance and response quality.