[1]林国庆,熊浩成,徐浩,等.考虑道路附着系数的智能车辆主动避撞[J].郑州大学学报(工学版),2026,47(XX):1-9.[doi:10. 13705 / j. issn. 1671-6833. 2026. 03. 001]
　LIN Guoqing,XIONG Haocheng,XU Hao,et al.Vehicle Active Collision Avoidance Considering Road Adhesion Coefficient[J].Journal of Zhengzhou University (Engineering Science),2026,47(XX):1-9.[doi:10. 13705 / j. issn. 1671-6833. 2026. 03. 001]
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考虑道路附着系数的智能车辆主动避撞()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
47
期数:
2026年XX
页码:
1-9
栏目:
出版日期:
2026-09-10

文章信息/Info

Title:
Vehicle Active Collision Avoidance Considering Road Adhesion Coefficient
作者:
林国庆1 ;  熊浩成1 ;  徐浩2 ;  秦宇1 ;  郭岩1
1. 长安大学 ,陕西省交通新能源开发、应用与汽车节能重点实验室,陕西 西安 710064;2. 比亚迪汽车工业有限公司,广东 深圳 518100
Author(s):
LIN Guoqing1 ;  XIONG Haocheng1 ;  XU Hao2 ;  QING Yu1 ;  GUO Yan1
1. Chan g′an University, Key Laboratory of Transportation New Energy Development, Application and Automotive Energy Conservation of Shanxi Province, Xi′an 710064, China; 2. BYD Automobile Industry Company Limited, Shenzhen 518100, China
关键词:
主动避撞; 无迹卡尔曼滤波; 附着系数; 解耦控制; 联合仿真
Keywords:
active collision avoidance;  unscented kalman filter;  adhesion coefficient;  decoupling control;  joint simulation
分类号:
U461.91
DOI:
10. 13705 / j. issn. 1671-6833. 2026. 03. 001
文献标志码:
A
摘要:
为提高主动避撞策略的有效性，提出了一种碰撞时间裕度风险评估方法。建立三自由度车辆模型和Dugoff轮胎模型并对状态参数进行计算得到归一化轮胎力。基于无迹卡尔曼滤波算法设计路面附着系数估计器，并通过仿真验证附着系数估计器的有效性。在安全距离模型中加入了道路附着系数，以解决传统避撞模型只考虑位置和车辆运动状况的问题。使用五次多项式生成主动避撞路径，计算所需的安全转向距离。基于风险评估方法设计避撞模式选择策略，使智能车辆可根据与障碍物之间的运动学关系选择合适的避撞模式。采用基于车辆逆动力学模型的纵向控制与使用MPC的横向控制对智能车辆进行解耦控制。通过Carsim-Simulink联合仿真实验和实车试验验证了避撞策略的有效性。
Abstract:
To improve the effectiveness of the active collision avoidance strategy, a risk assessment method for collision time margin is proposed. The three-degree-of-freedom vehicle model and the Dugoff tire model were established, and the state parameters were calculated to obtain the normalized tire force. The pavement adhesion coefficient estimator is designed based on the traceless Kalman filtering algorithm, and the effectiveness of the adhesion coefficient estimator is verified through simulation. The road adhesion coefficient was added to the safety distance model to address the limitations of the traditional collision avoidance model, which only considers the position and the vehicle movement conditions. Generate the active collision avoidance path using a fivetic polynomial and calculate the required safe steering distance. Based on the risk assessment method, a collision avoidance mode selection strategy was designed, enabling intelligent vehicles to select the appropriate collision avoidance mode according to the kinematic relationship with obstacles. The longitudinal control based on the vehicle inverse dynamic model and the lateral control using MPC are adopted to decouple the control of intelligent vehicles. The effectiveness of the collision avoidance strategy was verified through the joint simulation experiment of Carsim and Simulink and the real vehicle test.

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备注/Memo

备注/Memo:
收稿日期:2024-12-31;修订日期:2025-03-07
基金项目:陕西省重点研发计划项目(2023-YBGY-117)
通信作者:林国庆(1978— ) ,男,山东潍坊人,长安大学副教授,博士,硕士生导师,主要从事智能网联汽车与汽车测试技术方面的研究，E-mail:lgq@chd.edu.cn。
更新日期/Last Update: 2026-01-14