Research On The Algorithm Of Coordinated Collision Avoidance Under The Condition Of V2V

At present,rapidly domestic development of automobile industry promotes a fast increasing of automobile population,and the automobile industry faces a sever traffic safety situation in China.With the development of Io V technology,especially further study on V2V technology has laid a solid foundation on improving vehicle safety.V2V technology is an intelligent network technology,which makes it possible to monitor the speed,position or some other hidden date on vehicles driving on the road that cannot open to the drivers during the traffic.And it is also a good warns driver of danger on the road ahead according to the active collision avoidance strategy,so that control the risk of vehicle collision intime and take corresponding measures to reduce the risk of car driving situation.Based on predictive control theory and mechanics theory in this paper,V2V technology was used as the condition of obtaining information on vehicle status,designing two types of multivehicle collaborative active collision avoidance strategies and theory and numerically analyzing this strategy applied in traffic flow safety mechanism with the help of Matlab/Simulink and Car Sim joint simulation platform.Firstly,to establish vehicle's longitudinal dynamic model and inverse dynamic model by analyzing and deriving the vehicles' longitudinal driving force with the idea of block modeling including inverse engine model and inverse braking system model.The accuracy of the built model is verified by the Matlab / Simulink and Car Sim joint simulation environment,which provides conditions for the subsequent conversion of the control amount of the multi-vehicle longitudinal collaborative collision avoidance system.Then,V2V technology introduced in detail,the concept of queue coupling group has been proposed after analyzing the multi-vehicle longitudinal collaborative collision avoidance system.Taking the coupling group as the research object,the relative kinetic energy density index is introduced to measure collision.To carry out rationality analysis of index from the perspective of kinematics and energy,and establish a multi-vehicle longitudinal collaborative collision avoidance strategy based on the model predictive control theory.At the same time,the impedance theory is used to analyze the stress of multiple vehicles in the coupling group,and the multi-car impedance reference model is designed considering the driver's comfort and road utilization.the total relative kinetic energy density of multiple vehicles in the coupling group is the smallest To optimize the goal.Based on this model,the multi-vehicle longitudinal collaborative avoidance based on the impedance method is designed.Collision strategy.Finally,selecting Matlab/Simulink and Car Sim joint simulation platform to test the effectiveness of the built vehicle model and the multi-vehicle cooperative collision avoidance strategy under the initial braking speed of the first vehicle in the vehicle coupling group with different vehicle initial speeds and spacing.Building a GM driver model,to compare and analyze the simulation results of the built collision avoidance strategy with the GM model simulation results.At the same time,establishing a multi-vehicle collaborative collision avoidance semi-physical simulation platform based on Lab VIEW and wire control theory,introducing the sensors,controllers and actuators involved in the platform.The simulation analysis results show that the GM model has the worst collision avoidance effect due to the limitation of the driver 's natural reaction time.The total relative kinetic energy density method has the highest collision avoidance success rate,but the vehicle spacing sparking becomes large,the driver 's comfort is poor;The parking interval of the vehicle is more balanced under control,and the vehicle can make full use of the vehicle interval to brake,while the drivers and passengers feel more comfortable.