Research On Emergency Obstacle Avoidance Control Based On Active Lane Change Motion

With the increasing complexity of the traffic environment,the driver’s driving burden has become heavier,and the functions provided by traditional vehicle have been unable to meet the needs of people.With the advancement of science and technology and the development of the economic level,the development of vehicle with intelligent assisted driving functions has also been supported.The reason of most traffic accidents is that the driver is not focused,mishandled or not seasonable.Therefore,in order to reduce the occurrence of traffic accidents and improve the driving safety of automobiles,this paper focuses on the research of active obstacle avoidance control strategies under high-speed conditions.First,this paper introduces the research status of domestic and foreign enterprises and colleges on the obstacle avoidance system and summarizes the main research contents of this paper.The vehicle dynamics model,the two-degree-of-freedom reference model,the active steering system model,the driver model and the weak magnetic control model for expanding the rotational speed of permanent magnet synchronous motors were built in Matlab/Simulink software to establish the basis for subsequent research.Considering the generality of the road,this paper researches the linear road conditions and the curved road conditions respectively.The odd-order polynomial is used to establish the lane avoidance obstacle trajectory planning method,and safety distance model between the front obstacle and the self-vehicle are established.At the same time,considering the influence of the current lane rear car and the target lane before and after the different lanes on the lane changing process,the safety distance model is constructed respectively.From the perspective of improving the handling stability and driving safety,this paper proves the reversibility of the control system according to the implicit function theorem and finds the expression of the inverse system.Then,the sliding mode controller and the inverse system are combined to form a composite controller for direct yaw moment and active front wheel steering integrated control,and the trajectory tracking error is reduced under the premise of ensuring the steering stability of the lane changing obstacle avoidance process.Based on the above control strategy,the simulation verification in Matlab/Simulink software environment is carried out to verify the effectiveness of the proposed emergency obstacle avoidance strategy.Based on RealView MDK software,this paper develops an active steering controller,which converts the corner tracking algorithm into a C language program that can be processed by the control chip,and verifies the steering wheel following effect on the hardware-in-the-loop test platform and the real vehicle test platform.Finally,based on the above research,this paper tests the hardware-in-the-loop test platform and the real vehicle test platform of the lateral driving assistance system based on CarSim/LabVIEW.The test results show that the method of lane avoidance control is valid and feasible.