Mathematical modelling of active safety system functions as tools for development of driverless vehicles

International Automobile Scientific Forum (IASF-2017) Intelligent Transport Systems

Ryazantsev, V.^1 ; Mezentsev, N.^2 ; Zakharov, A.^1

Active Safety Sector, FSUE NAMI, Moscow

125438, Russia^1

Intelligent Vehicles Department, FSUE NAMI, Moscow

125438, Russia^2

关键词: Acceleration and deceleration;    Acceleration and deceleration control;    Emergency situation;    Interaction interface;    Longitudinal acceleration;    Longitudinal dynamics;    Vehicle architecture;    Vehicle steerability;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/315/1/012021/pdf
DOI  :  10.1088/1757-899X/315/1/012021

来源: IOP

【 摘 要 】

This paper is dedicated to a solution of the issue of synthesis of the vehicle longitudinal dynamics control functions (acceleration and deceleration control) based on the element base of the vehicle active safety system (ESP) - driverless vehicle development tool. This strategy helps to reduce time and complexity of integration of autonomous motion control systems (AMCS) into the vehicle architecture and allows direct control of actuators ensuring the longitudinal dynamics control, as well as reduction of time for calibration works. The "vehicle+wheel+road" longitudinal dynamics control is complicated due to the absence of the required prior information about the control object. Therefore, the control loop becomes an adaptive system, i.e. a self-adjusting monitoring system. Another difficulty is the driver's perception of the longitudinal dynamics control process in terms of comfort. Traditionally, one doesn't pay a lot of attention to this issue within active safety systems, and retention of vehicle steerability, controllability and stability in emergency situations are considered to be the quality criteria. This is mainly connected to its operational limits, since it is activated only in critical situations. However, implementation of the longitudinal dynamics control in the AMCS poses another challenge for the developers - providing the driver with comfortable vehicle movement during acceleration and deceleration - while the possible highest safety level in terms of the road grip is provided by the active safety system (ESP). The results of this research are: universal active safety system - AMCS interaction interface; block diagram for the vehicle longitudinal acceleration and deceleration control as one of the active safety system's integrated functions; ideology of adaptive longitudinal dynamics control, which enables to realize the deceleration and acceleration requested by the AMCS; algorithms synthesised; analytical experiments proving the efficiency and practicability of the chosen concept.