Research On Active Collision Avoidance Control Method In Dangerous Lane Change Conditions

Considering the situation when driver does not notice the vehicle in blind spot or misjudges the speed of the vehicle in the target lane during lane changing.There are few related studies on active control to achieve collision avoidance during lane-changing(such as insufficient safety distance or insufficient safety time).Therefore,research on active collision avoidance control methods for dangerous lane changing conditions is promising for reducing traffic accidents caused by lane changing.Based on intelligent vehicle,the active collision avoidance control method mainly includes the definition and establishment of typical dangerous lane changing conditions,design of collision avoidance strategy,trajectory planning and trajectory tracking,also the virtual experiment and evaluation using Car Sim and Simulink.Content is as follows:First,the driver’s possible lane changing operations are analyzed on straight highway with double-lane,and four typical dangerous lane changing conditions are defined through abstraction and simplification.The feasibility analysis of the driver’s lane-changing operation is carried out by establishing a longitudinal safety restraint model based on the minimum safety distance and a lateral safety restraint model based on lane offset.And set corresponding active collision avoidance control decisions for these conditions.And,design the dynamic preview point of collision avoidance control using the center point of the front axle of the vehicle at decision time as the trajectory base point,and using fifth-order polynomial function to establish the collision avoidance trajectory planning model.Based on the established trajectory planning model,build the corresponding collision avoidance trajectory planning controller.Then,based on the classic vehicle dynamics model,building the collision avoidance trajectory tracking controller by model predictive control method.The controller is simulated under different parameters,which not only verifies the control result,but also provides a reference for parameter adjustment of the simulation experiment.Finally,in order to verify the designed active collision avoidance control method,using Car Sim and Simulink to do simulation experiments under safe lane changing conditions,dangerous discretionary lane changing conditions and dangerous mandatory lane changing conditions.The result shows that the control method can not only avoid lane changing accidents under typical dangerous lane changing conditions,but also can provide good comfort.Hoping can provide references for related lane-changing assist systems research.