前车失稳工况下侧滑车辆轨迹预测研究

doi:10.16638/j.cnki.1671-7988.2025.012.006

汽车实用技术 ›› 2025, Vol. 50 ›› Issue (12): 30-38，56.DOI: 10.16638/j.cnki.1671-7988.2025.012.006

• 智能网联汽车 • 上一篇

前车失稳工况下侧滑车辆轨迹预测研究

程小龙，张鹏举，杨逍，刘鑫勇

重庆理工大学车辆工程学院

发布日期:2025-06-24
通讯作者: 程小龙
作者简介:程小龙（1998－），男，硕士研究生，研究方向为车辆动力学控制

Research on Trajectory Prediction of Sideside Vehicle under the Condition of Instability of Front Vehicle

CHENG Xiaolong, ZHANG Pengju, YANG Xiao, LIU Xinyong

College of Vehicle Engineering, Chongqing University of Technology

Published:2025-06-24
Contact: CHENG Xiaolong

摘要/Abstract

摘要： 为解决自动驾驶汽车在高速工况下前车失稳侧滑的紧急避撞问题，文章提出前方侧滑车辆状态识别和前方侧滑车辆轨迹预测的研究方法。通过提取出前方车辆发生危险性侧滑的关键特征来搭建前车侧滑识别模型，结合所提取的侧滑特征指标设计了前方车辆侧滑识别策略，判断前方车辆侧滑状态。选取前方侧滑车辆的状态量建立恒定转率和加速度模型，短时预测前方侧滑车辆轨迹。考虑到模型的简化假设和传感器感知信息过程中存在噪声，使用无迹卡尔曼滤波处理轨迹预测过程中的不确定性，计算前方侧滑车辆可能出现的位置和协方差，估计前方侧滑车辆在概率为 0.9 的条件下未来可能出现的区域。通过所建立的 CarSim 和 Simulink 联合仿真平台，在高速低附工况下，验证了前车侧滑状态识别策略有效性和侧滑车辆轨迹预测的精度。

关键词: 智能汽车；侧滑识别；无迹卡尔曼滤波；轨迹预测

Abstract: In order to solve the problem of emergency collision avoidance of autonomous vehicles when the front vehicle is unstable and sliding under high-speed conditions, a research method for the state recognition of the front side-skidd vehicle and the trajectory prediction of the front side-skidd vehicle is proposed. By extracting the key features of the vehicle in front of the vehicle in danger of sliding to build a skidding recognition model of the vehicle in front, a skidding recognition strategy of the vehicle in front is designed based on the extracted skidding feature indexes to judge the skidding state of the vehicle in front. The state quantity of the sliding vehicle in front is selected, and the constant rotation rate and acceleration model is established to predict the trajectory of the sliding vehicle in front in a short time. Considering the simplified assumptions of the model and the noise in the process of sensor perception information, the unscented Kalman filter is used to deal with the uncertainty in the trajectory prediction process, and the possible position and covariance of the front sideslipping vehicle are calculated, and the possible future area of the front sideslipping vehicle is estimated under the condition of probability of 0.9. Through the established CarSim and Simulink co-simulation platform, the effectiveness of the front vehicle skidding state recognition strategy and the accuracy of the trajectory prediction of the sliding vehicle are verified under the condition of high speed and low attachment.

Key words: intelligent vehicle; sideslip identification; unscented Kalman filter; trajectory prediction

程小龙，张鹏举，杨逍，刘鑫勇. 前车失稳工况下侧滑车辆轨迹预测研究[J]. 汽车实用技术, 2025, 50(12): 30-38，56.

CHENG Xiaolong, ZHANG Pengju, YANG Xiao, LIU Xinyong. Research on Trajectory Prediction of Sideside Vehicle under the Condition of Instability of Front Vehicle[J]. Automobile Applied Technology, 2025, 50(12): 30-38，56.

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前车失稳工况下侧滑车辆轨迹预测研究

Research on Trajectory Prediction of Sideside Vehicle under the Condition of Instability of Front Vehicle

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