| To introduce,analyze and simulate the safety warning system and stability of vehicle lane changing in this paper.The results show that the system can judge the safety of lane changing according to different driving conditions.At the same time,under the conditions of safe lane change to verify the steering stability and ride comfort by along given path.Vehicle safety warning system could to early alarm the safety of lane changing corresponding initial relative speed and acceleration value,and taking driver characteristics into consideration,so further make warning system more meet of the driver.After the early warning system determines that the lane change is a safe process,the lane changing vehicle will along a given safety path to finish full process.Based on the research results at domestic and abroad,the full-vehicle model of lane changing is respectively established in simulation analysis software-Adams and Matlab.The classical PID control and self-adaptive fuzzy PID control strategy are studied,and combines Matlab with Adams to realize simulation analysis during different driving conditions.The results verify the effectiveness of the proposed model,and by analyze and compare the simulation results to verify the favorable control effect and stability of vehicle.The main contents of this paper are as follows:(1)Taking the current traffic accident situation caused by lane changing as premise to indicate the purpose and significance of the safety warning system and stability of vehicle.To introduce and analyze the development and application of active safety technology.Then,to describe and analyze research status of the safety system at domestic and abroad.(2)Analyzing the methods and principles of the vehicle sensing system.Through analyze the advantages and disadvantages of different sensing system to select a system is used to this paper.Finally,Based on the lane changing situation of typical five-car environment to analyze the collision forms between lane changing vehicles and other driving vehicles in different time periods.Meawhile,establishes the mathematical model of lane change warning under the critical condition and the map of the safety zone in Matlab.(3)Introducing the influence of driver’s characteristic factors on safety distance during lane changing.Then,to fuzzify the driver characteristic factor into warning system and analyze the warning performance of the lane changing system.At last,the full-vehicle maneuvering model is established in lane changing process.(4)Introducing the function of the conventional controller in the industry and established self-adaptive fuzzy PID controller that it have good control effect and be able to self-tune parameters,and then the controller is verified by simulation.The driver model in the lane changing process is analyzed and the simulation control model is established in Simulink.(5)Based on vehicle dynamics software Adams/Car to establish vehicle physical model.In order to comprehensively and deeply verify the accuracy and scientificity of the model and the effect of the designed control system.At the same time,to establish co-simulation model based on PID and self-adaptive fuzzy PID control through the real-time interaction between the information communication and the software interface.Respectively,conduct the double lane change and the fish hook simulation experiment and analyze the control effect.The simulation results show that the proposed model has good performances and the vehicle can complete the lane changing test according to the specified path under the real-time intervention of the controller.The full vehicle can smoothly finish the lane changing test and basically(except for the PID control in the fish hook experiment)avoid some unstable status,such as lateral slip and drift.So finally indicate the effect of self-adaptive fuzzy PID control is better than PID control and the feasibility of driver model.(6)First of all,to summarize the content of this paper and briefly introduce the main contents of each chapter.Secondly,the shortcomings and imperfection caused by time and experimental conditions are pointed out,and propose some expectations and suggestions for the subsequent study. |
