车联网环境下人车路一体化的汽车协同式避撞方法研究

The vehicle cooperative collision avoidance system analyzes the state of vehicle itself and nearby vehicles, judges the safety state and controls the vehicle in case of emergency automatically to ensure driving safety. In practical application, because the distance between vehicles is too close, the collision avoidance system which relies on the emergency brake of a single vehicle, can not avoid collision. For this inadequate, a driver-vehicle-infrastructure integration cooperative control for collision avoidance is proposed. The method of integration among vehicular nonlinear longitudinal dynamics, vehicle-to-vehicle dynamic system and vehicular critical distance is studied, and the driver-vehicle-infrastructure integration cooperative model for collision avoidance is also established. According to analyzing the impact of vehicle-to-vehicle distance caused by road adhesion coefficient and driver’s behavior characteristic, the mathematical description and computational method of adaptive safety distance model is studied under vehicular network environment. In the case of the distance of vehicles is too close and collision can not be avoided relying solely on the emergency brake of rear car, the collaborative motion control mechanism and collision avoidance method of front-rear vehicles are studied in the full use of vehicle-to-vehicle communication. If dangerous can not be avoided, the above studies provide a follow-up control solution for automotive collision avoidance system.

汽车协同式避撞系统通过无线通信对自身和邻近车辆信息进行综合分析，判断行车安全状态，在紧急情况下自动控制汽车，使汽车主动避撞以保证行驶安全。针对实际应用中因车距过近而依赖单一车辆的紧急制动无法实现安全避撞的问题，本项目提出一种车联网环境下人车路一体化的汽车协同式避撞方法：研究车辆非线性纵向动力学、车间动力学和车辆临界车距的集成方法，建立综合考虑道路状况和驾驶员个体行为特征的人车路一体化协同式避撞模型。分析道路附着系数、前车和本车的驾驶员个体行为特征对安全车距的影响，在充分利用车-路、车-车之间信息交互基础上，研究车联网环境下自适应安全车距模型的数学描述和计算方法；利用车-车通信，在理想制动减速度最优分配基础上，利用前后车之间的协同运动控制来实现安全避撞，在确保驾乘舒适性基础上有效提高系统的安全性。在危险无法避免情况下，本项目为汽车避撞系统应该以怎样的措施进行后续控制提供一种解决方法。

汽车协同式避撞系统通过无线通信对车辆自身和邻近车辆信息进行综合分析，判断行车安全状态，在紧急情况下自动控制汽车，使汽车主动避撞以保证行驶安全。本项目建立包含驱动系、制动系的车辆非线性纵向动力学模型，结合车间纵向动力学特性、道路状况、本车和周围邻近车辆驾驶员个体行为特征，建立人车路一体化的汽车协同式避撞模型。研究道路状况、车轮运动状态和附着系数之间的非线性影响关系，在此基础上，考虑附着系数对车辆制动减速度的影响，建立车路一体化的安全车距模型。利用车-车通信，在理想制动减速度最优分配基础上，研究利用前后车之间的协同避撞策略。研究和开发协同式避撞系统的车载终端技术，开展终端硬件设计、嵌入式Linux操作系统开发、基于Qt/Embedded人机交互软件开发。研究复杂交通场景下的通信距离、丢包率、网络延时、组网和中继特性影响机理，建立自组织短程通信模型，实现车-车、车-路协同式信息交互。开展十字交叉路口、急转弯车辆交会、高速路匝道入口车车交会情景分析，开发交叉口、同向/反向会车、超车、侧向会车等复杂场景下的协同式避撞预警算法。搭建协同式避撞系统实车验证平台，进行复杂场景下协同式避撞策略和算法验证。