Research On Robust Control Of Intelligent Vehicle Lateral Collision Avoidance Based On Collision Warning

In the past decade,China's economic and social development has made great progress.The family car has become an indispensable way for people to travel.The problem that comes with it is more and more traffic accidents,which cause casualties and hard to estimate property losses,and become a social and people's livelihood problem that needs to be solved urgently.At present,the active safety technology based on intelligent transportation system can effectively avoid the occurrence of traffic accidents,and the key technology based on early warning intelligent vehicle active collision avoidance system has become a research hotspot in the field of automobile safety at home and abroad,it is of practical significance to reduce traffic accidents,reduce casualties and property losses,and speed up the intelligent progress of automobiles.In this paper,the early warning and control of the whole process from identifying potential collision risk vehicles to safe collision avoidance are studied deeply,and the early warning and active collision avoidance control of intelligent vehicles are considered as a whole system.Using Matlab/Simulink simulation software,the collision avoidance early warning algorithm and the lateral collision avoidance trajectory planning and tracking control strategy are established.Combined with the real driving environment,several typical driving conditions are set up,which are verified by the joint simulation of MATLAB / Simulink and Car Sim software.The results show that: in the complex traffic environment,intelligent vehicles can accurately and effectively warn according to different driving conditions and driver response;at the same time,when the driver does not respond to the warning level of four,the obstacle avoidance system will be the main Take over the vehicle dynamically,and control the intelligent vehicle to change lanes to avoid collision,so as to ensure the safety of driving.Firstly,the early warning system for obstacle avoidance is studied.In order to be more in line with the actual driving environment,the driver's driving state and road adhesion coefficient are taken into account,and a safe distance model based on the minimum distance between vehicles is established.This model can dynamically adjust the safe distance according to the changes of environmental parameters,which is more suitable for the actual complex traffic environment.On the basis of safety distance model,the early warning mechanism based on safety distance is established.In order to ensure the safety and reliability of the early warning strategy,the collision time interval is introduced to establish the safety state evaluation mechanism,so as to grasp the vehicle driving safety state in real time.Combined with safety distance warning and collision time distance warning,a multi-level warning strategy is established,which can effectively improve the accuracy of dynamic warning.Secondly,the lateral collision avoidance trajectory planning and tracking control are studied.When the driver does not respond to the warning level reaching level 4,the obstacle avoidance system will take over the vehicle and change the lane to avoid collision.Based on the minimum holding distance and lateral displacement of vehicle,the obstacle avoidance trajectory is planned by using sine function.Then,in order to overcome the vehicle parameter perturbation in the track following process of lateral lane changing,a robust controller is designed to realize the accurate tracking of obstacle avoidance reference trajectory and ensure the safety and vehicle stability of intelligent vehicle in the process of collision avoidance.Finally,the paper uses Matlab/Simulink and Car Sim software for joint simulation,and uses Matlab/Simulink software to establish vehicle dynamic early warning strategy and track tracking robust control algorithm.Three typical driving conditions,i.e.static driving,variable speed driving and emergency braking,are used to verify the early warning strategies of different driving conditions,and the tracking effect of robust controller is tested.The experimental results show that the proposed fusion complementary multi-level early warning algorithm can achieve real-time dynamic and accurate early warning of intelligent vehicles in complex environment,and the robust controller can suppress parameter perturbation and achieve accurate track.Therefore,the intelligent vehicle obstacle avoidance robust control system based on obstacle avoidance early warning can realize the functions of vehicle from the beginning of monitoring to danger to safe collision avoidance in different driving environments,and achieve the purpose of dynamic early warning and safe collision avoidance.