Research On Vehicle Autonomous Collision Avoidance Control Strategy Under Vehicle-road Cooperative Environment

With the improvement of people's living standards,private cars have become more and more popular vehicles,and driving safety has also been valued by people.Vehicle autonomous collision avoidance as the core content of driving safety has also been a hot issue in the automotive field.The planning of obstacle avoidance strategy based solely on the vehicle's own sensors has certain limitations,and the information interaction between vehicles and vehicles in the vehicle collaborative environment can solve this problem well.In the context of vehicle and road coordination,the acquisition of intelligent vehicle driving environment information is significantly different from traditional autonomous vehicles.Therefore,based on the characteristics and advantages of vehicle information acquisition under the vehicle road collaborative environment,this paper constructs a V2X-based vehicle autonomous collision avoidance control strategy.Experiments show that the controller model can better characterize the vehicle collision avoidance performance.Firstly,this paper analyzes the research background of this topic from the perspective of technology development and traffic safety,and expounds the research significance of the subject from the perspective of application requirements and system cost of vehicle autonomous collision avoidance system.Then the problems in the research of the current vehicle autonomous collision avoidance control system are analyzed.Secondly,this paper analyzes and compares the system hardware,traffic information detection method and information interaction mode of the vehicle road coordination system,further embodies the characteristics and advantages of the autonomous collision avoidance system in the vehicle road coordination environment;The path planning method and path tracking method of the collision process are analyzed and compared with the applicability,and the design of the overall collision avoidance system scheme is finally determined.Thirdly,the mathematical modeling of the vehicle model is carried out according to the designed system structure,and the two-degree-of-freedom classic vehicle prediction model and the magic formula-based tire model are built according to the system requirements and design.Thirdly,the mathematical modeling of the vehicle model is carried out according to the designed system structure,and the two-degree-of-freedom classic vehicle prediction model and the magic formula-based tire model are built according to the system requirements and design.In order to reflect the accuracy of the prediction model,a precise vehicle model based on Carsim software was built,and the working conditions suitable for the performance of the controller were built in the Prescan software.The configuration requirements between the softwares in the software co-simulation were briefly explained.Then,the collision avoidance path tracking controller based on the model predictive control principle is constructed in Simulink.The problem of the deviation between the system control quantity and the output quantity is optimized online to improve the robustness of the control system.Then,based on the applicability problem of the controller,a hierarchical collision avoidance controller based on path re-planning is designed.A penalty function is introduced on the basis of the collision avoidance path tracker to design a path planner based on model predictive control.Finally,the design of the vehicle autonomous collision avoidance controller that implements the upper path planning and the lower path tracking finally reflects the performance of the vehicle collision avoidance controller through the actual software joint simulation process.Finally,this paper gives a brief summary of the research situation of the subject,and puts forward some shortcomings in the research process,and puts forward the research prospect according to the actual problem.