CAJ | 학술논문

保持合适的行车安全距离是无人车能够主动安全避障的前提，针对现有安全距离模型和控制理论的不足，在基于环境感知技术的基础上建立了动态安全距离数学模型，综合考虑了前车的各种运动状态和车辆加速度突变的问题；提出模糊控制理论与最优控制理论相结合的思想设计了避障系统控制器，利用MATLAB/Simulink仿真环境建立的模糊最优避障控制系统模型对所建立的安全距离模型进行验证，结果表明在不同工况下安全距离模型既满足了无人车主动安全性能又不影响道路通行能力，为降低交通事故率提供了一定的依据。
보지합괄적행차안전거리시무인차능구주동안전피장적전제，침대현유안전거리모형화공제이론적불족，재기우배경감지기술적기출상건립료동태안전거리수학모형，종합고필료전차적각충운동상태화차량가속도돌변적문제；제출모호공제이론여최우공제이론상결합적사상설계료피장계통공제기，이용MATLAB/Simulink방진배경건립적모호최우피장공제계통모형대소건립적안전거리모형진행험증，결과표명재불동공황하안전거리모형기만족료무인차주동안전성능우불영향도로통행능력，위강저교통사고솔제공료일정적의거。
Maintaining a proper safety distance is a prerequisite for UV ’s active safety collision avoidance.In view of the shortcomings of existing safety distance models and control theory,a dynamic safety distance mathematical model is established,on the basis of environmental perception technology under consideration of various operating states and abrupt acceleration changes of earlier vehicles.An obstacle avoidance controller is designed through combination of fuzzy control and optimal control.The optimal fussy model for the obstacle avoidance control system established in MATLAB/Simulink simulation environment verifies the safety distance model,and the results indicate that in different working conditions,the safety distance model meets the requirement on active safety performance of the UV without affecting road passage,thus providing a path for bringing down traffic accident rate.