Man-machine cooperative control strategy of the longitudinal collision avoidances based on the factors of driver, vehicle and road

doi:10.3969/j.issn.1674-8484.2023.01.006

Abstract

Abstract:

A man-machine cooperative longitudinal collision avoidance control strategy was proposed to improve the driver’s acceptance of the longitudinal collision avoidance system and improve driving comfort. An improved SeungwukMoon safety distance model was established considering factors such as driver, vehicle, and road surface adhesion conditions, by using a proposed calculation method of minimum following distance. The dynamic safety boundary was determined according to the safety distance model and the time-to-collision parameters. The driver’s control weight was allocated in real-time by using the extension theory to obtain the ideal braking pressure. The results of CarSim/Simulink/AMESim co-simulation was verified by tests. The results show that the driver control weight coefficient of the proposed control strategy is greater than 0.5 with realizing the gradual transfer of control weight. The braking strengths are both less than 0.4g with of a distance between vehicles of less than 8 m at the speed of 30 and 72 km/h. Therefore, this strategy improves ride comfort and vehicle following efficiency.

Key words: automotive safety, longitudinal collision avoidance system, man-machine cooperative, safety distance model, time to collision, control weigh

CLC Number:

U463.5

WANG Xuanyao, CHENG Wangfeng, MA Chengcheng. Man-machine cooperative control strategy of the longitudinal collision avoidances based on the factors of driver, vehicle and road[J]. Journal of Automotive Safety and Energy, 2023, 14(1): 46-54.

Figures/Tables 12

References 17

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前腔活塞质量	0.2 kg
前腔弹簧刚度	3.8 kN/m
前腔弹簧预载	97 N
后腔活塞质量	0.30 kg
后腔弹簧刚度	7.88 kN/m
后腔弹簧预载	55 N
后腔阻尼系数	20 N/(m·s^-1)
黏性摩擦系数	1.0 kN/(m·s^-1)
活塞与推杆间的间隙	4 mm
活塞摩擦力	2 N
活塞截面积	314.16 mm²
电机电阻	0.28 Ω
电机电感	6.5 mH
电机反电动势系数	94 mV s·rad^-1
电机转动惯量	2×10^-5 kg·m²
电机库伦摩擦力矩	2.67 mNm
电机黏性摩擦系数	2.5 MNm/(r·min^-1)

前腔活塞质量	0.2 kg
前腔弹簧刚度	3.8 kN/m
前腔弹簧预载	97 N
后腔活塞质量	0.30 kg
后腔弹簧刚度	7.88 kN/m
后腔弹簧预载	55 N
后腔阻尼系数	20 N/(m·s^-1)
黏性摩擦系数	1.0 kN/(m·s^-1)
活塞与推杆间的间隙	4 mm
活塞摩擦力	2 N
活塞截面积	314.16 mm²
电机电阻	0.28 Ω
电机电感	6.5 mH
电机反电动势系数	94 mV s·rad^-1
电机转动惯量	2×10^-5 kg·m²
电机库伦摩擦力矩	2.67 mNm
电机黏性摩擦系数	2.5 MNm/(r·min^-1)

整车质量	1.412 t
质心高度	0.54 m
轴距	2.91 m
质心至前轴距离	1.015 m
轮胎半径	0.325 m
轮距	1.675 m
车轮转动惯量	0.9 kg·m²

整车质量	1.412 t
质心高度	0.54 m
轴距	2.91 m
质心至前轴距离	1.015 m
轮胎半径	0.325 m
轮距	1.675 m
车轮转动惯量	0.9 kg·m²

避撞工况	自车初始车速 km·h^-1	前车车速 km·h^-1	初始车距 m
低速	30	10	20
中速	72	35	40
高速	120	100	85