汽车巡航系统前方弯道关键目标识别研究

doi:10.16731/j.cnki.1671-3133.2017.07.016

现代制造工程 ›› 2017, Vol. 442 ›› Issue (7): 80-84.doi: 10.16731/j.cnki.1671-3133.2017.07.016

汽车巡航系统前方弯道关键目标识别研究

陈学文, 刘伟川, 张进国, 李刚

辽宁工业大学汽车与交通工程学院,锦州 121001

收稿日期:2016-08-10 出版日期:2017-07-18 发布日期:2017-09-29
作者简介:陈学文,副教授,博士,研究方向为汽车系统动力学及控制。E-mail: xuewen.chen@163.com
基金资助:
国家自然科学基金项目(E51305190);辽宁省自然科学基金项目(201602368);辽宁省教育厅项目(L2014240)

Research on the key target distinguish method of automobile cruise system in the curve road

Chen Xuewen, Liu Weichuan, Zhang Jinguo, Li Gang

College of Automobile and Traffic Engineering,Liaoning University of Technology, Jinzhou 121001,Liaoning,China

Received:2016-08-10 Online:2017-07-18 Published:2017-09-29

摘要/Abstract

摘要： 为解决巡航系统在弯道行驶路段常出现目标车混乱或丢失问题,应用扩展卡尔曼滤波理论研究巡航车前方弯道关键目标识别方法。基于三自由度车辆模型建立横摆角速度扩展卡尔曼滤波器,实现道路曲率的在线估计,构建弯道关键目标识别模型并给定判定依据。利用MATLAB/Simulink建立弯道关键目标识别的仿真模块,采用双移线输入验证横摆角速度与质心侧偏角的估计。实现了Carsim环境与Simulink联合仿真,验证了弯道多目标行驶工况下关键目标的准确识别,结果表明:提出的弯道目标识别方法能准确判定巡航车在弯道路段的关键目标,可有效避免巡航系统在弯道路段因目标车混乱或丢失而造成的追尾事故,其研究成果对于完善或改进ACC系统性能具有重要参考价值。

关键词: 汽车巡航系统, 关键目标, 扩展卡尔曼滤波, 仿真

Abstract: Adopting the extend Kalman filter theory,a key target distinguish method is researched in order to avoid the goal confusion or missing of automobile cruise system in the curve road.An extend Kalman filter on yaw rate and a key target distinguish model are established for estimated the road curvature in real time and decided the critical target based on a nonlinear three degrees of freedom vehicle model.A simulation module was elaborated by using MATLAB/Simulink to validate the estimation of yaw rate and side slip angle based on the high-speed double lane input.With joint simulation of Carsim and MATLAB/Simulink,the simulation experiments are given to judge the key target for multiple targets in the curve road.The simulation results show that the proposed method can identify accurately the key target in the curve road and avoid rear-end collisions effectively.The research results can offer the theory reference for improving or perfecting the control performances of automobile cruise system.

Key words: Automobile Cruise Control(ACC) system, key target, extend Kalman filter, simulation

中图分类号:

U491.6+2

陈学文, 刘伟川, 张进国, 李刚. 汽车巡航系统前方弯道关键目标识别研究[J]. 现代制造工程, 2017, 442(7): 80-84.

Chen Xuewen, Liu Weichuan, Zhang Jinguo, Li Gang. Research on the key target distinguish method of automobile cruise system in the curve road[J]. Modern Manufacturing Engineering, 2017, 442(7): 80-84.

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汽车巡航系统前方弯道关键目标识别研究

Research on the key target distinguish method of automobile cruise system in the curve road

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