Study of Autonomous Obstacle Avoidance Control Strategy for CPEV

• Main Authors: Tse-Lin Lee, 李則霖
• Other Authors: 鄭榮和
• Format: Others
• Language: zh-TW
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/54694658989345604125

碩士 === 國立臺灣大學 === 機械工程學研究所 === 104 === The purpose of this research is to establish an active safety control strategy integrating obstacle avoidance and vehicle stability which fits the situation being on one-way two-lane and with multiple obstacles, and can be used on an intelligent electric vehicle developed by ITRI. We develop a car equipped with active steering, lane tracking and active braking control to dodge obstacles on the road or to stop the vehicle under 50km/h. This strategy not only consists of obstacle avoidance control including situation judgment flowchart with operational decision-making process and path following control method, but also can adjust the parametric path planning algorithm to plan several paths according to the distance and relative velocity between the vehicle and obstacle, and passenger’s comfort. And it integrates the vehicle stability strategy including anti-slip braking control, rollover detection warning and vehicle steering dynamic stability control in order to enhance the steadiness through the path tracking process. We establish the control strategy on MATLAB/Simulink and the vehicle dynamic model on CarSim to execute the Model-in-the-Loop simulation and parameter adjustment. And then we modify the dynamic characteristic of the vehicle model through experiment. Last, this research proposes a control strategy that can make CPEV within 50kph successfully avoid moving obstacles at one-way two-lane through active braking or active steering.