基于车辆与行人危险工况的转向避撞控制策略-汽车安全与节能学报.PDF

ISSN 1674-8484 汽车安全与节能学报, 2015 年, 第6 卷 第3 期 03/ 13 CN 11-5904/U J Automotive Safety and Energy, 2015, Vol. 6 No. 3 217 —223 基于车辆与行人危险工况的转向避撞控制策略 朱西产，刘智超，李 霖 （同济大学 汽车学院，上海201804 ，中国） 摘  要： 为避免在危险出现时车辆与行人发生碰撞，提出了一种辅助驾驶员采用紧急转向的控制策略。 从500 例发生在日常驾驶过程的危险工况中，筛选出车辆直行与行人发生冲突的典型危险工况。利用 Prescan 创建开发场景。选用五次多项式规划转向避撞路径，利用前馈控制与反馈控制结合的策略， 控制车辆跟踪参考路径。在Carsim 和Matlab/Simulink环境下，基于二自由度车辆动力学模型进行联 合仿真，以验证该策略的可行性、准确性和鲁棒性。结果表明：针对这类危险场景，该控制策略可 以控制车辆跟踪避撞路径，以避免车辆与行人发生碰撞事故。 关键词： 汽车主动安全；自然驾驶；危险工况；紧急转向辅助；路径规划；避撞策略 中图分类号：U 461.91 献标识码： A DOI: 10.3969/j.issn.1674-8484.2015.03.003 Evasive manoeuvre for emergency steering based on typical vehicle-pedestrian use case ZHU Xichan, LIU Zhichao, LI Lin School of Automotive Studies, Tongji University, （ Shanghai 201804, China ） Abstract: An evasive manoeuvre was designed based on typical vehicle-pedestrian use case to help drivers to get rid of the collision when a pedestrian crosses the road suddenly. A typical vehicle-pedestrian use case was obtained from 500 risk cases collected from daily driving. According to the characteristics of this typical risk case, a kind of scenario was built for the development of strategy. A fifth order polynomial was used to plan a reasonable path for collision avoidance to ensure pedestrian safety. An evasive manoeurve for emergency steering situation was built based on the combination of feed-forward control strategy and feedback control strategy to keep the vehicle follo