Study On The Longitudinal Dynamics Model And Control Method Of The Collision Avoidance System

The rapid development of automobile industry has brought grate convenience to people’s lives,it also cause a lot of traffic accidents each year, resulting in huge economic losses.Therefore, the collision avoidance problem is getting people’s attention.Due to the complexity and nonlinear dynamics of collision avoidance systems, the model established exists a lot of uncertainties,which cause it difficult to ensure robust performance during the actual traveling by the traditional control method.To solve this problem,a new longitudinal dynamics perturbation model is presented in this paper,and the throttle and brake controllers are designed based onμ control theory.The controllers can effectively inhibit parameter perturbation and external disturbances on the system with good robust.First, collision avoidance under level control system is designed based on the conventional collision avoidance systems research.Then, a new collision avoidance longitudinal dynamic perturbation model is proposed.This model is based on the actual vehicle parameters of an intelligent vehicle test platform,the non-linear components are simplified,the parameter perturbation effect on the system on actual moving process is considered and the model is simulated in different conditions. The results show that the establishment of longitudinal dynamics perturbation model not only meets the requirements of simplicity also has good dynamic performance,it can reflect the impact of uncertainty on the system accurately.Then,longitudinal dynamic perturbation model brake systems and power systems are used as the control object respectively.Parameter perturbation, outside interference and non-modeling error are considered when the controllers are designed.Theμ controller and the nominal￥H controller were compared with Simgui toolbox in Matlab.The simulation results show that the designed μ controller has a faster response speed and robustness with perturbations and interference and the system has good control effect.To further verify the effectiveness of the designed controller,the μ controller and the PID controller are compared under actual driving test based on the experimental platform.The test results show that the designed μ controller has strong robustness in practical application process, it provide a reference to better solve issues which due to the perturbation parameter and model uncertainty lead to reduce collision avoidance longitudinal dynamics control system performance problem for the future.