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基于滑模控制的车车协同主动避撞算法

王庞伟 余贵珍 王云鹏 王迪

王庞伟, 余贵珍, 王云鹏, 等 . 基于滑模控制的车车协同主动避撞算法[J]. 北京航空航天大学学报, 2014, 40(2): 268-273.
引用本文: 王庞伟, 余贵珍, 王云鹏, 等 . 基于滑模控制的车车协同主动避撞算法[J]. 北京航空航天大学学报, 2014, 40(2): 268-273.
Wang Pangwei, Yu Guizhen, Wang Yunpeng, et al. Cooperative active collision avoidance algorithm based on sliding mode control[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(2): 268-273. (in Chinese)
Citation: Wang Pangwei, Yu Guizhen, Wang Yunpeng, et al. Cooperative active collision avoidance algorithm based on sliding mode control[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(2): 268-273. (in Chinese)

基于滑模控制的车车协同主动避撞算法

基金项目: 国家高技术研究发展计划(863计划)资助项目(2012AA111901)
详细信息
  • 中图分类号: U461.91

Cooperative active collision avoidance algorithm based on sliding mode control

  • 摘要: 传统的汽车主动避撞算法主要基于后车制动实现,但实际应用中会因为车距过近时仍无法避免追尾事故,以及由于紧急制动而造成驾驶员、乘客感到不适.需要从汽车行驶舒适性出发,利用车车通讯获取前车信息计算理想车间距,建立滑模控制方程计算出后车期望加速度,通过分配前后车加速度来完成协同主动避撞,由此保证了汽车行驶舒适性和安全性,弥补了传统算法的不足,并通过CarSim和Matlab/Simulink联合仿真验证了算法的可行性.

     

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出版历程
  • 收稿日期:  2013-04-24
  • 网络出版日期:  2014-02-20

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