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针对提高车车协同下车辆纵向避撞系统的性能,提出了基于车辆行驶状态估计的车车协同纵向避撞安全距离模型。首先,通过建立考虑车辆前、后轴中点位置的汽车运动学模型以及车辆行驶状态参数估计的状态方程,采用扩展卡尔曼滤波方法实现车辆行驶状态的准确估计。接着在车辆状态参数准确估计的基础上,针对前车运动状态,分别建立了基于车车协同下前车静止、前车匀速行驶以及前车减速制动下的车辆纵向避撞系统的安全距离模型。并基于Matlab/Simulink搭建了汽车行驶状态估计以及纵向避撞系统安全距离模型的仿真平台。仿真结果证明了车辆行驶状态估计的准确性以及纵向避撞安全距离模型的有效性。
In order to improve the performance of vehicle longitudinal collision avoidance system in coordination with vehicle, a safety distance model of vehicle longitudinal collision avoidance based on vehicle running state estimation is proposed. First of all, by establishing the kinematic model of the vehicle considering the midpoint of the front and rear axles and the equation of state of vehicle traveling parameters, an extended Kalman filter is used to estimate the vehicle driving condition accurately. Then based on the accurate estimation of the vehicle state parameters, the safety distance model of the vehicle longitudinal collision avoidance system based on the vehicle before and after the vehicle moving at a constant speed and the preceding vehicle deceleration braking is established for the preceding vehicle movement state respectively . Based on Matlab / Simulink, a simulation platform for vehicle traveling state estimation and longitudinal collision avoidance system safety distance model is built. The simulation results prove the accuracy of the vehicle running state estimation and the validity of the longitudinal collision avoidance safety distance model.