大连民族学院学报
大連民族學院學報
대련민족학원학보
Journal of Dalian Nationalities University
2015年
5期
472-477
,共6页
葛平淑%徐国凯%郭烈%任泽建
葛平淑%徐國凱%郭烈%任澤建
갈평숙%서국개%곽렬%임택건
行人防碰撞预警%纵向动力学模型%加速度滑模控制%单神经元PID控制%联合仿真
行人防踫撞預警%縱嚮動力學模型%加速度滑模控製%單神經元PID控製%聯閤倣真
행인방팽당예경%종향동역학모형%가속도활모공제%단신경원PID공제%연합방진
pedestrian collision avoidance%longitudinal dynamics model%acceleration sliding mode control%single neuron PID%co-simulation
为了体现现有汽车主动防撞系统对车外行人等交通弱势群体的主动安全保护,对行人防碰撞预警系统中自动制动控制进行了研究. 在车辆获取到前方行人基本信息的基础上,设计了考虑行人安全的安全状态判断模型,建立了基于Carsim和Simulink的车辆纵向动力学模型,采用加速度滑模控制方法设计了获取本车期望加速度的上位控制器,单神经元PID控制设计了跟踪这一期望加速度的下位控制器,最后对典型的行人危险场景进行联合仿真. 试验表明所设计的控制算法对避撞行人有较好的响应,并且能在保证一定的安全距离的前提下实现自动制动,保证了行车的安全性.
為瞭體現現有汽車主動防撞繫統對車外行人等交通弱勢群體的主動安全保護,對行人防踫撞預警繫統中自動製動控製進行瞭研究. 在車輛穫取到前方行人基本信息的基礎上,設計瞭攷慮行人安全的安全狀態判斷模型,建立瞭基于Carsim和Simulink的車輛縱嚮動力學模型,採用加速度滑模控製方法設計瞭穫取本車期望加速度的上位控製器,單神經元PID控製設計瞭跟蹤這一期望加速度的下位控製器,最後對典型的行人危險場景進行聯閤倣真. 試驗錶明所設計的控製算法對避撞行人有較好的響應,併且能在保證一定的安全距離的前提下實現自動製動,保證瞭行車的安全性.
위료체현현유기차주동방당계통대차외행인등교통약세군체적주동안전보호,대행인방팽당예경계통중자동제동공제진행료연구. 재차량획취도전방행인기본신식적기출상,설계료고필행인안전적안전상태판단모형,건립료기우Carsim화Simulink적차량종향동역학모형,채용가속도활모공제방법설계료획취본차기망가속도적상위공제기,단신경원PID공제설계료근종저일기망가속도적하위공제기,최후대전형적행인위험장경진행연합방진. 시험표명소설계적공제산법대피당행인유교호적향응,병차능재보증일정적안전거리적전제하실현자동제동,보증료행차적안전성.
To realize the active safety protection of pedestrian and other vulnerable groups of cur-rent vehicle active collision avoidance system, the automatic braking control of the pedestrian collision avoidance system is studied. The safety state assessment model is designed after obtai-ning the pedestrian information ahead of vehicle. The vehicle longitudinal dynamics model is created utilizing Carsim and Simulink. The desired acceleration of the host vehicle is generated by the upper controller based on sliding model control. A bottom controller, which aims to track the desired acceleration, is designed based on the single neuron PID control. Several typical pe-destrian protection scenarios are presented. Results show that the designed controller has a good response in preventing pedestrian collision. The vehicle can brake automatically while keeping a safety distance between the pedestrian and vehicle, improving vehicle driving safety.