Driver Model Of Intelligent Vehicle With Lateral Active Safety

With the rapid development of industry and the improvement of people’s living standards,vehicles have become important tools of transportation in people’s daily life.However,peoples are gradually suffering from the drawbacks of the rapid development of automotive technology,including traffic congestion,traffic accidents and exhaust pollution.With the need to ensure the safety of life and property in the 21 st century,clean energy and vehicle active safety technology have always been the major research topics in the vehicle industry.Especially in recent years,under the wave of rapid development of artificial intelligence,automotive intelligent network,5G communication and driverless systems have become hot topics for universities,research institutes.Therefore,in the current technical background,the establishment of a new smart car driver model with active safe driving behavior has become a core issue of intelligent driving technology.Vehicle lateral safety mainly concentrates on two aspects.The first one is the accidents of roll,sideslip and tail flick caused by insufficient lateral stability.Secondly,vehicles are prone to collision with other vehicles because of the influence of traffic environment.Under the support of the national key research and development project “Research and Industrialization of Intelligent Assisted Driving Technology for Electric Vehicles”,this paper takes the safe driving behavior of intelligent vehicles as the research object,and focuses on the main problems that may occur in the steering safety of vehicles.Making the following research:1)The overall control structure of the driver model is defined and designed,which consists of three subsystems: speed control,steering control and decision-making.At the same time,the overall control objectives of the driver model and the control objectives of each subsystem are determined.The speed control system is designed to realize the acceleration control target of arbitrary form with high control precision.2)Aiming at the risk of rollover,sideslip and sideslip caused by vehicle instability during steering,the steering control system adopts model predictive control theory,combines with the main lateral constraints of vehicle centroid sideslip angle,lateral acceleration,yaw angular velocity and lateral transfer rate,calculates the optimal steering wheel angle to achieve trajectory tracking,and improves vehicle lateral stability.3)Aiming at the various collisions between vehicles and adjacent vehicles during lane-changing,the decision-making planning system is used to analyze the lane-changing conditions of the target lane.When the environment has the condition to change lane,the system calculates the expected acceleration and trajectory of the approaching lane through the speed adjustment algorithm and trajectory planning algorithm,and performs lane change operation as the reference signal of the speed controller and steering controller of the driver model.In order to avoid collision with the front vehicle,the model predictive control algorithm is used to adjust the distance and speed between the two vehicles.The trajectory planning strategy of driver’s model takes the front vehicle as the target,and uses Bessel curve and particle swarm optimization algorithm to plan the safe trajectory of lane change.