摘要：In order to resolve the goal confusion or missing on curve road, a target recognition method on automobile cruise system is put forward based on filtering and fuzzy control theory. A vehicle model with 3 degrees of freedom on the yaw rate, sideslip angle, and body roll angle is discretized and an extended Kalman filter is proposed for estimating the road curvature. For the key target on the straight road, a multi-object changing-lane fuzzy controller is presented to prejudge the dangerous changing-lane objects. For the recognition of key target on the curve road, a recognition model is set up to calculate the lateral offset between the estimated road curvature radius and the target trajectory radius. In order to validate the feasibility of the key target recognition method, the simulation cases are given for multi-objects on the curve road and straight road adopting Carsim and MATLAB/Simulink co-simulation. The simulation results show that designed fuzzy controller has good robustness for prejudging the dangerous changing-lane objects on straight road. The extended Kalman filter has realized the efficient estimation on road curvature and the recognition model has identified the key target accurately to prevent the goal confusion or missing on curve road. The research results can offer the theory reference for improving or perfecting the control performances of automobile intelligent cruise system.
关键词：Automobile intelligent cruise system; key target; fuzzy control; body roll angle; yaw rate; extended Kalman filter; simulation
