Abstract
In order to improve the safety and real-time performance of vehicle longitudinal active collision avoidance, a layered collision avoidance control method based on warning value, standard collision time safety model TTC and fuzzy PID is proposed in this paper. Based on the collision time safety model, the upper controller obtains the braking deceleration of the vehicle according to the relative speed and relative displacement of the obstacle in front. The lower controller is based on fuzzy PID, according to the brake deceleration speed of the upper vehicle, by controlling the pressure of the brake master cylinder of the vehicle, the control of vehicle speed is realized. Finally, using the CarSim/Simulink co-simulation platform, and taking the straight-line working condition as an example, the collision avoidance effect of the controlled vehicle under different speeds was simulated and verified. The results show that the upper controller can afford the appropriate speed of collision avoidance and deceleration according to the reference information, and the lower controller can adjust the brake deceleration speed according to the fuzzy PID, so as to realize the vehicle braking pressure, meet the requirements of longitudinal active collision avoidance.
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