Braking Collision Avoidance System for Vehicles Driving on Superhighway Based on Co-simulation

doi:10.12141/j.issn.1000-565X.210703

Abstract

Abstract:

To solve the safety problem of collision between a high-speed intelligent vehicle and a low-speed vehicle on the superhighway, the vehicle braking collision avoidance system was studied by using the method of co-simulation. CarSim was used to establish the vehicle dynamics model and set the front vehicle parameters, road parameters and sensor parameters, and the control model based on vehicle distance and speed was established in MATLAB/Simulink. The signal connection is established through the input and output parameter interface module of CarSim software. When the speed of the front car is 100, 120 and 140 km/h, and the speed of an intelligent vehicle is 140, 160 and 180 km/h, respectively, the control model sends the braking deceleration signal to the intelligent vehicle through the real-time distance and speed collected by the sensor and establishes the emergency braking collision avoidance strategy for the vehicle on the superhighway. The results show that when the road adhesion coefficient is 0.60 and the car is braked on the flat straight section of the superhighway, the optimal wheel cylinder pressure is 7 MPa, and at this time, the braking distance of the car is 170.3 m at a speed of 160 km/h. The front car travels at a speed of 100, 120 and 140 km/h, and the smart car brakes at 140, 160 and 180 km/h, respectively, to the same speed as the car in front, requiring relative distances of 10.8, 10.7 and 10.5 m, respectively. When the road adhesion coefficient is 0.60, the vehicle speed of the front vehicle is 100, 120 and 140 km/h, respectively. When the initial cylinder pressure is 1 MPa and the intelligent vehicle braking decelerates to the same speed as the front vehicle, the distance between the front suspension of an intelligent vehicle and the rear suspension of the vehicle in front is 3.1, 3.5, and 3.8 m, respectively. When the initial cylinder pressure is 3 MPa and the intelligent vehicle braking decelerates to the same speed as the front vehicle, the distance between the front suspension of an intelligent vehicle and the rear suspension of the vehicle in front is 7.0, 7.3, and 7.7 m, respectively. Through the CarSim/Simulink co-simulation platform of vehicle emergency braking and collision avoidance control, the validity and accuracy of superhighway braking and collision avoidance model are verified, which can improve the safety of superhighway driving.

Key words: superhighway, collision avoidance model, dynamic model, assistant driving, co-simulation

CLC Number:

U463.5

HE Yongming, FENG Jia, QUAN Cong, et al. Braking Collision Avoidance System for Vehicles Driving on Superhighway Based on Co-simulation[J]. Journal of South China University of Technology(Natural Science Edition), 2022, 50(10): 19-28.

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参数	数值		数值
整车质量/kg	1 110	怠速/（r·min^-1）	750
轴距/mm	2 600	最大扭矩/（N·m）	620
质心至前轴距离/mm	1 040	轮胎有效滚动半径/mm	298
质心高度/mm	540	汽车绕Z轴转动惯量/（kg·m²）	1 343

路面状况	干燥		潮湿
路面状况	<48 km/h	>48 km/h	<48 km/h	>48 km/h
沥青路面	0.80~1.00	0.60~0.70	0.50~0.80	0.45~0.75

类别	参数名称	参数含义
输入参数	PCON_BK	主缸压力
输入参数	Throttle	节气门开度
输出参数	S1	两车间距
输出参数	Vx	智能车车速

参数	数值
参数	工况一	工况二	工况三
前车车速/（km·h^-1）	100	120	140
智能车车速/（km·h^-1）	140	160	180
初始间距/m	30	30	30
车速一样时车间距/m	19.2	19.3	19.5
相对最小安全距离/m	10.8	10.7	10.5
相对最小安全距离建议值/m	11	11	11

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