Modeling and Analysis of the Braking-based Collision Avoidance System for a Battery Electric Vehicle

作者：Li, Hongtao; Zhao, Han^*; Huang, Kang; Liu, Shengqiang

来源：Qiche Gongcheng/automotive Engineering, 2018, 40(4): 443-449 and 464.

DOI：10.19562/j.chinasae.qcgc.2018.04.011

• Collision avoidance systems
• Control methods
• Exponential reaching law
• External disturbances
• Longitudinal dynamics
• Model and analysis
• Vehicle collision avoidance systems
• Vehicle following

Aiming at the braking-based collision avoidance system in battery electric vehicle (BEV), a sliding mode control scheme is proposed based on feedback linearization for vehicle following distance and speed tracking error. A vehicle longitudinal dynamics model is constructed with consideration of the model nonlinearity, the uncertainty of system parameters and external disturbances. A control method with exponential reaching law is adopted, a controller for vehicle collision avoidance system with double inputs and double outputs is designed, and a simulation is conducted on braking-based collision avoidance controller under a scene of vehicle following. The results show that the controller designed has obvious collision avoidance effects with a small tracking error in vehicle following process, while ensuring vehicle driving comfort.

• 出版日期2018
• 单位合肥工业大学