1、重慶交通大學(xué)碩士學(xué)位論文4WS車(chē)輛高速公路智能換道避障安全行車(chē)輔助系統(tǒng)研究姓名：戚志錦申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：車(chē)輛工程指導(dǎo)教師：楊志剛20120610ABSTRACTAsautomobileownershipsincreasing，todaytheroadtrafficcapacityisgrowingtobesaturatedThedrivingenvironmentisdeteriorating，andthetrafficaccid

2、entratioisincreasingtooAccordingtostatisticsAccordingtostatistics，thetrafficaccidentrateonhighwayperlOOkmisfourtimesmorethanthatinordinaryroadInordertoavoidtheunsafeeffectsoftheautomobiletheintelligentsafetytechnologyequ

3、ippedinthecarshouldbeemployedAndthen，inthispapertheresearchonIntelligentVehicleSafetyAssistanceSystemwithIntelligentLaneChanging&ObstacleAvoidingFunctionhasgreattheoreticalandpracticalsignificanceFirstlythroughdiscussing

4、abouttheschemeofthesafetyassistancesystemdesignCompositionmodulesofitshardwarecontrolsystemareintroduced，includingmastercontrolmodule，sensoracquisitionmoduleandimageprocessingmodule，etcthemethodtodetectingtheroadwayonhig

5、hwayandthefrontobstaclecarinthisintelligentlanechangingsystemisputforwardtodosecurityguidingworkduringthelanechangingandobstacleavoidingprocessSecondlythemodelof4WSvehiclehighwayintelligentlanechangemodelisimprovedAftera

6、nalyzingthevehiclemovementrelationshipwhenlanechanging，theleastsafetydistancewhilelanechangingandanewkindofintelligentvehiclelanechangingtrackplanareputforward，anditsadvantageisprovedtooAtlast，aimingtofeaturesofthecontro

7、lsystememployedinfourwheelsteeringcarautoregulativefuzzyPIDlanechangetracktrackingcontrollerisdesigned111evehiclelanechangingtrajectorytrackingissimulatedandgetagoodtrackingperformancefinallyKeyword：Intelligentlanechangi