Research On Collision Avoidance Control System Of Electric Vehicle Driven By Wheel Motor

With the "green energy" concept continues to get popular,new energy vehicles in the rapid development of research,at the same time the active safety of electric vehicles by the community’s widespread concern,electric vehicle active safety collision avoidance system is a new topic Based on this background,this paper chooses the pure electric vehicle driven by the wheel motor,which is based on the longitudinal system of the vehicle,which is based on the research of the vehicle longitudinal energy system and the driver’s vehicle driving safety.The corresponding safety distance model is established and the corresponding controller is designed.The simulation model of collision avoidance control system is built by using Matlab/Simulink,and the performance of the system is verified by simulation analysis.The main contents of this paper include four aspects:(1)According to the general structure of the electric vehicle,the seven-degree-of-freedom dynamics model,the tire model and the permanent magnet synchronous motor model are established.(2)According to the longitudinal braking and lateral lane changing process,the safe distance model is established respectively.The safe distance model of the longitudinal braking is mainly given by the following three conditions:constant vehicle speed,front vehicle stationary and front vehicle emergency braking.And lateral use of sine function lane change model to describe the test vehicle lateral acceleration and lateral velocity.(3)Based on the safety distance model,the corresponding controller is designed according to collision avoidance requirements.Firstly,the function definition of the two collision avoidance ways is established,which is the foundation of the controller realization.Secondly,the vertical layered controller is established,which is realized by the upper layer decision-making guide bottom control.Finally,the cosine function is used to control the trajectory curve.,Ensuring that the system accurately follows a given desired yaw angle.(4)With the help of Matlab/Simulink simulation platform,according to the established electric vehicle dynamics model,safety distance model and controller model,the collision avoidance system is built.By setting the relevant parameters,the longitudinal braking and side-Way simulation analysis and validation.To sum up,this paper will realize the collision avoidance control requirement of the vehicle in the longitudinal and lateral direction by establishing the active safety distance model of the pure electric vehicle driven by the wheel motor and the preliminary study of the vehicle collision avoidance controller.For the late electric car active safety issues in-depth study has very important significance.