A Study On Control System Of Collision Risk Estimation Based On External Dynamic Environment

With the development and progress of driverless vehicles,people pay more and more attention to vehicle safety,and vehicle collision a voidance system is one of the key technologies of vehicle active safet y.Sensing technology,information fusion,intelligent control and other technologies are becoming more and more mature,which promotes th e rapid development of automotive active safety technology.As the ve hicle collision avoidance system is of great significance to ensure the safety of vehicles,it has been widely used in automotive products.In this paper,the vehicle hazard assessment and its control system in e mergencies are studied,and a hazard assessment algorithm considering road dynamic condition uncertainty and measurement noise interferenc e is proposed.Firstly,a fuzzy reasoning model of road condition-self-driving speed-maximum deceleration is constructed by using fuzzy con trol method,that is,according to road condition and self-driving spee d,the maximum deceleration of vehicle is obtained by using fuzzy re asoning algorithm.On this basis,considering the uncertainty caused b y road condition and sensor noise,an uncertain propagation model bas ed on kinematics is established,which is based on quintic polynomial s.The model reference path and dynamic evaluation index are used to predict the vehicle steering path,and the Monte Carlo algorithm is u sed to calculate the probabilityThen,the vehicle dynamic model is established in Carsim and the vehicle inverse longitudinal dynamic control model is established in Matlab/Simulink,and the longitudinal brake controller is designed.Th rough the joint simulation of the two,the vehicle longitudinal control is realized according to the expected deceleration.Secondly,the vehi cle lateral control system is designed.,and the steering and lane-chan ging control of the vehicle is carried out according to the given lane-changing trajectory based on the three-degree-of-freedom vehicle dyna mics model and tire dynamics model using the model predictive contr ol method.Last,the simulation conditions of intersection and rear-end are designed,and the braking and steering collision avoidance probabilities under different road adhesion coefficients are compared and analyzed.The reasonable collision avoidance mode is selected for the vehicle and the vehicle control system is simulated.The results show that the collision avoidance control system for hazard assessment has good collision avoidance effect and can achieve the expected function.