Research On Active Collision Avoidance Control Strategy And System Of Intelligent Vehicles

In recent years,intelligent vehicle collision avoidance technology has become a research hotspot in the field of automobile intelligence.In the process of driving a vehicle,when an obstacle occurs at the current side,active braking or active steering is used to avoid a collision,which can effectively improve the driving safety of the vehicle.It is of great academic and practical value to study the active collision avoidance technology of intelligent vehicles.From the perspective of improving the adaptability of the active collision avoidance system,this paper proposes a design scheme for the coordination of the brake collision avoidance strategy and the steering collision avoidance strategy.The emergency steering trajectory planning method and the path following control algorithm are studied to improve the active collision avoidance of the intelligent vehicle.safety.The main research work of this article is as follows:Through the analysis of the braking process,the coordination basis for braking and steering strategies is given,and the fifth-order polynomial path planning method can be improved.Under the conditions of dynamics and collision safety constraints,emergency steering collision avoidance paths and rapid speed planning are achieved,and also vehicle interference problems are considered.Design trajectory tracker based on model predictive control theory.In order to improve the real-time performance of the controller,the nonlinear model prediction problem is transformed into the linear model prediction problem,at the same time,the linearity prediction model is adopted.Under the conditions of vehicle mechanical saturation constraints and dynamic constraints,With the purpose of path tracking error and control quantity minimization,and the optimal path tracking problem is studied.In order to verify the effectiveness of collision avoidance trajectory planning and trajectory tracking algorithms,Prescan traffic scene modeling software was used to establish a virtual traffic scenario.Carsim vehicle dynamics modeling software was used to establish a vehicle model,considering a variety of common emergency conditions.Co-simulation tests were performed in Simulink.In order to further promote industrial applications,an active collision avoidance control hardware system based on Freescale's MC9S12XS128 chip was designed to load the collision avoidance control algorithm,and a hardware-in-the-loop simulation was performed with Dspace to test the effectiveness of the hardware system and the control algorithm.