汽车防追尾预警系统安全距离模型研究-潘杰-李萍

AutomotiveElectronics246•ElectronicTechnology&SoftwareEngineering1CAN;;CANCAN;50km/h120km/hX1dX22dX1−X2+d0d051dX1−X2+252dX1−X2+25dX1−X2+53dX1−X2+5⍻䐍䴧䗮㠚䖖䙏ᓖՐᝏಘ䖜ੁ䀂ՐᝏಘࡦࣘՐᝏಘ䐟䶒ᛵߥ䘹ᤙؑ᚟༴⨶о᧗ࡦ⏢Ღᱮ⽪ቿᣕ䆖㴲呓ಘᣕ䆖ᤷ⽪⚟࣐䙏䐿ᶯՐᝏಘؑ᚟䟷䳶অݳ㌫㔏ѫ᧗অݳᱮ⽪ᣕ䆖অݳAutomotiveElectronicsElectronicTechnology&SoftwareEngineering•247X1X2trtatstv3vavrelatrtatsd31trtavatr+taS1S1=va(tr+ta)(1)2ts4a'=−t(2)tsv=va−tdt=va−t2(3)S2=vdt=vatS−ts2(4)3tvS3atvv'v=v'−a∫dt=v'−at5v'tsv'=va−ts6v'5tsv'=va−ts−at(7)tv==−(8)S3=vdt=(va−ts−at)dt=(va2−avats+)(9)X1=s1+s2+s3=va+(tr+ta+)−ts2(10)X1=va+(tr+ta+)+(11)vtatX2=vt+att212t=tr+ta+ts+tvvaaΔvΔad0ta0.2tr1ts0.2d05߿䙏ᓖatrtstvtᰦ䰤Wa