Some Control Methods About Intelligent Vehicle Active Collision Avoidance

With the rapid development of socience and technology and also automobile industry, vehicles bring not only great convenience to human life, but also produce challenges to traffic safety. Thus, intelligent security and intelligence auxiliary driving, whose research core is intelligent vehicle, attract much attention from people, and many countries have taken it as key part of intelligent transportation systems. In which, the active safety control system is becoming one of the focus areas in automotive active safety research field at domestic and abroad for the purpose of avoiding the accident. The deeply research of the automotive collision avoidance control system has important significance, which can decrease the accident rate, reduce the loss of personnel property, and promote the development of intelligent transportation. This paper takes into account two types of collision avoidance traffic scenarios, and design the corresponding collision avoidance algorithms. And finally by an simulation example illustrates that the algorithm can achieve the purpose of collision avoidance.The main results in the dissertation are as follows:In the first chapter, the intelligent vehicle research background and practical significance is briefly introduced, and research situation at home and abroad about collision avoidance system of intelligent vehicle is recalled.In the second chapter, the problem of the collision avoidance for intelligent vehicle systems through land change operation is investigated. Assuming that there exists a stationary obstacle at the same lane and in front of intelligent vehicle, we consider avoiding collision with it via lane-changing operation. First, the kinematics equations of intelligent vehicle are established by analyzing its motion characteristics. Then, a collision avoidance path is designed, and the optimal model predictive controller is used to achieve collision avoidance. Finally, the verify of the designed method is verified by Matlab and CarSim co-simulation. In the third chapter, this paper investigates the model-based control algorithm of achieving collision avoidance for intelligent vehicle systems. For the two driving cars at the same lane and opposite direction, the model-based controller is designed by considering the shape of the vehicles. Finally, a simulation experiment illustrates the effectiveness of the proposed algorithm.In the four chapter, the main results of the thesis are concluded, and some future research issues are proposed.