Abstract：The rapid development of vehicle collision warning systems has improved the road traffic safety. Current collision avoidance strategies, however, solely focus on the relationship between two consecutive vehicles, while ignoring the influence of avoidance strategies on the traffic flow behind the vehicle. A longitudinal coordinated collision avoidance (CCA) strategy was developed based on model predictive control (MPC) for multiple connected vehicles. The model considers multiple vehicle flow dynamics to minimize the total relative kinetic energy density (RKED) as the objective with and the optimization problem in continuous time discretized into a quadratic programming problem for numerical calculations to avoid or reduce the total loss of vehicle collisions. The effectiveness of this method is verified by MATLAB simulations.
谢伯元, 王建强, 秦晓辉, 等. 基于车路协同的车辆状态估计方法[J]. 汽车工程, 2014, 36(8):968-973.XIE Boyuan, WANG Jianqiang, QIN Xiaohui, et al. Vehicle state estimation based on V2L system[J]. Automotive Engineering, 2014, 36(8):968-973. (in Chinese)
Wang J, Li S E, Zheng Y, et al. Longitudinal collision mitigation via coordinated braking of multiple vehicles using model predictive control[J]. Integrated Computer-Aided Engineering (ICAE), 2015, 22:171-185.
Jansson J, Johansson J, Gustafsson F. Decision Making for Collision Avoidance Systems[R]. New York:Society of Automotive Engineers, 2002.
Passmann C, Brenzel C, Meschenmoser R. Wireless Vehicle to Vehicle Warning System[R]. New York:Society of Automotive Engineers, 2000.
Sengupta R, Rezaei S, Shladover S E, et al. Cooperative collision warning systems:Concept definition and experimental implementation[J]. Journal of Intelligent Transportation Systems, 2007, 11(3):143-155.
李珣, 曲仕茹. 物联网架构下的车辆动态避险路径规划方法研究[J]. 西北工业大学学报, 2012, 30(5):729-733.LI Xun, QU Shiru. An effective differential evolution algorithm for collision avoidance of vehicles under IOT(internet of things)[J]. Journal of Northwestern Polytechnical University, 2012, 30(5):729-733. (in Chinese)
Xiang X, Qin W, Xiang B. Research on a DSRC-based rear-end collision warning model[J]. IEEE Transactions on Intelligent Transportation Systems, 2014, 15(3):1054-1065.
Li S E, Xu S, Kum D. Efficient and accurate computation of model predictive control using pseudospectral discretization[J]. Neuro Computing, 2015, 16(3):1199-1209.
Li S E, Jia Z, Li K, Cheng B. Fast online computation of a model predictive controller and its application to fuel economy-oriented adaptive cruise control[J]. IEEE Transactions on Intelligent Transportation System, 2015, 16(3):1199-1209.
Lu X Y, Wang J, Li S E, et al. Multiple-vehicle longitudinal collision mitigation by coordinated brake control[J]. Mathematical Problems in Engineering, 2014(3):1-13.
公路部交通管理局. 中华人民共和国道路交通事故统计年报[R].北京:公安部交通管理局, 2014.The Traffic Management Bureau of the Ministry of public security. The People's Republic of China Road Traffic Accident Statistics[R]. Beijing:The Traffic Management Bureau of the Ministry of Public Security, 2014. (in Chinese)