Research On Lateral Collision Avoidance Control Method For Intelligent Vehicle

Compared with the traditional vehicles,intelligent vehicles have advantages in information acquisition,environment identification and many other aspects.It is the future direction of the development of vehicles.Because of the high accident rate and high risk of the lateral collisions at the intersections and the forks,the lateral collision is potentially dangerous at present.In this paper,the problem of lateral collision avoidance of intelligent vehicle is studied systematically from three aspects: trajectory prediction,collision identification and collision avoidance control of host vehicle and the other vehicle.The main contents of this paper are divided into four chapters.In this paper,we firstuse the intelligent vehicle’s on-board millimeter wave radar,global positioning system(GPS),vehicle-to-vehicle communication technology(V2V)and other equipment and technologies to obtain the environmental information around the vehicle and other related data of the host vehicle.And the vehicle-related state information in the host vehicle coordinate system is obtained by coordinate transformation,so that the host vehicle can be in their own coordinate system for collision prediction and state control.The collision position of the vehicle at the future time is predicted by the vehicle trajectory prediction algorithm model.The simulation results verify the feasibility of the vehicle trajectory prediction model established in this paper.According to the predicted vehicle trajectory,the predicted collision position and the established host vehicle dynamics model,a control algorithm for collision avoidance by host vehicle emergency braking is proposed.The control algorithm given in this paper can effectively take into account the driver’s intention to operate and realize the collision avoidance function of the vehicle.In order to solve the nonlinear control problem of collision avoidance by emergency braking,this paper transforms the collision avoidance control problem of the vehicle into the stabilization control problem of the system,and gives a design method of collision avoidance controller based on Backstepping.In order to improve the comfort and safety of the emergency braking collision avoidance control algorithm,this paper further considers the collision avoidance control method based on the collision position prediction and the speed adjustment.Then we establish the trajectory prediction model,and based on the idea and strategy of receding horizon control,considering the constraints of vehicle torque and torque variation,a receding horizon optimization control method for lateral collision avoidance is given.The control method given in this paper is closer to the driving method of the actual driver,and the comfort and safety of the lateral collision avoidance control can be improved.In this paper,these two control methods are simulated respectively,the rationality and effectiveness of the control method are tested,and the advantages and disadvantages of different control algorithms are analyzed with the simulation results.