車輛防撞系統之實車測試

Experiment of Vehicle Collision Avoidance System

陳志鏗(Chih-Keng Chen) ； 金仲浩(Chung-Hao Jin) ； 洪智偉(Chih-Wei Hung)

《車輛工程學刊》 9期 (2012/06) Pp. 83-100

https://doi.org/10.30023/JVE.201206.0006

摘要

本研究主要是建立一套防撞警示系統，由系統判定車輛本身有無立即性的危險，透過燈號及聲響提醒駕駛人，必要時進行主動煞車控制。透過CarSim模擬軟體驗證，並將毫米波雷達裝置在車頭，結合MotoTron將控制器運用在實車上作控制，藉由實車測試驗證控制器之成效。在防撞控制器設計方面，吾人以三家車廠的法則為安全距離估測器，當實際距離小於安全距離即觸發輕煞，當預估之碰撞時間小於1.5秒即觸發重煞及ABS。同時加入彎道防撞策略，讓控制器可辨認前車是否和本車同車道，進而觸發主動煞車。並建立三種行車常遇到的危險狀況，以了解三家法則之特性，選擇出較適合在實車測試之法則，作為實車測試之控制器。在實車測試方面，針對實驗車進行改裝，加裝雷達並對煞車系統做改裝，使作動器可接受控制以進行主動煞車，將所建立之控制程式燒錄至MotoTron車用ECU上，透過實車測試觀察控制器在於實車控制成效，並確認煞車系統能夠正確執行其命令，避免失控，使之保有高度的安全性。

關鍵字

主動煞車 ； 防撞控制器 ； 毫米波雷達 ； MotoTron

並列摘要

In this paper, a Radar-Based Vehicle Collision Avoidance System (VCAS) is established to help the vehicle from collision by providing light alarms when the vehicle is at a danger of collision. Also, the Active Braking System (ABS) is activated in emergency braking. The simulation system has been implemented by cooperating vehicle model with sensor equipment in CarSim with a controller built in Simulink/MATLAB. The VCAS has also been validated through an experimental vehicle equipped with a millimeter-wave radar using MotoTron ECU microcontroller. In design of VCAS controller, three collision avoidance algorithms from automobile manufacturers are used to estimate the safe distance from the front vehicle. A light-braking status will be triggered when the actual distance from the front vehicle is smaller than safe distance. Similarly, a heavy-braking with ABS control, will be triggered if the estimated collision time is smaller than 1.5 sec. A curve lane collision avoidance strategy is also proposed to detect if the front vehicle is in the same lane or not. The VCAS controller program built in MotoTron ECU is developed according to the proposed algorithm. A vehicle road running test is utilized to verify the effectiveness of the proposed algorithm.

並列關鍵字

Active Brake ； Avoidance Collision Controller ； Millimeter-wave radar