基于驾驶员特性的主动避撞分级制动策略与验证
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摘要
为准确而直观地判断当前工况的危险程度,充分利用已知的车间运动信息,以安全时距模型为基础,提出了一种新的碰撞时间(TTC)的建模方法。基于危险判定指标TTC开发了一种符合驾驶员避撞特性的主动避撞系统;设计了主动避撞分级制动策略,其关键参数根据驾驶员特性和实车试验结果确定;同时,引入了一个预警门限值T_w,设计了采用声、光预警的主动避撞预警策略,帮助驾驶员实现有效避撞。实车试验结果表明:该系统的分级制动和预警策略符合驾驶员的避撞特性,体现了驾驶员控制的优先性和协调性,可有效避免碰撞,满足汽车主动避撞的要求。
To judge the danger degree of current situation accurately and intuitively, fully utilizing the known information of inter-vehicle movement and based on safe time headway model, a new modeling method of time-to-crash(TTC) is proposed. An active collision avoidance system conforming to the collision avoidance characteristics of driver is developed based on the risk judging indicator TTC. A hierarchic braking strategy for collision avoidance is designed, whose key parameters are determined based on driver's characteristics and real vehicle test results. In addition, a warning threshold Tw is introduced and an active collision avoidance warning strategy in audible and visual forms is designed to help driver fulfill effective collision avoidance. The results of real vehicle test show that the hierarchic braking and warning strategy of the system conform to driver's characteristics, embody the priority and coordination of driver's control, and can effectively avoid crash, meeting the requirements of active collision avoidance of vehicles.
To judge the danger degree of current situation accurately and intuitively, fully utilizing the known information of inter-vehicle movement and based on safe time headway model, a new modeling method of time-to-crash(TTC) is proposed. An active collision avoidance system conforming to the collision avoidance characteristics of driver is developed based on the risk judging indicator TTC. A hierarchic braking strategy for collision avoidance is designed, whose key parameters are determined based on driver's characteristics and real vehicle test results. In addition, a warning threshold Tw is introduced and an active collision avoidance warning strategy in audible and visual forms is designed to help driver fulfill effective collision avoidance. The results of real vehicle test show that the hierarchic braking and warning strategy of the system conform to driver's characteristics, embody the priority and coordination of driver's control, and can effectively avoid crash, meeting the requirements of active collision avoidance of vehicles.
引文
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[18] 李霖,朱西产,马志雄.驾驶员在真实交通危险工况中的制动反应时间[J].汽车工程,2014,36(10):1225-1229.
[19] 李霖,朱西产,董小飞,等.自主紧急制动系统避撞策略的研究[J].汽车工程,2015,37(2):168-174.
[20] 李霖,朱西产.智能汽车自动紧急控制策略[J].同济大学学报:自然科学版,2015,43(11):1735-1742.
[21] 冯弟瑶,陈君毅,王宏雁,等.追尾避让中的AEB系统关键参数优化方法研究[J].汽车技术,2016(11):8-12.
[22] 许宇能,朱西产,李霖,等.基于单目视觉的车间TTC计算及追尾危险工况特征参数研究[J].佳木斯大学学报:自然科学版,2014(1):60-64.
[23] MCLAUGHLIN B, DINGUS A, HANKEY M, et al. Automotive collision avoidance system field operational test[DB/OL].[2012-09-29]. http://citeseerx.Ist.psu.edu/viewdoc/download?doi=10.1.1.133.4507&r-ep=rep1&type=pdf.
[24] 中国汽车技术研究中心.C-NCAP管理规定[Z/OL].[2017-04-20]. http://www.cncap.org/cms/files/cncap-regulation-2018.pdf.
[2] KIEFER R, LEBLANC D, PALMER M, et al. Development and validation of functional definitions and evaluation procedures for collision warning/avoidance systems[DB/OL].[2012-9-25].http:// ntl.bts.gov/lib/jpodocs/repts_te/87101!.pdf.
[3] LEE D H, KIM S K, KIM C S, et al. Development of an autonomous braking system using the predicted stopping distance[J]. International Journal of Automotive Technology,2014,15(2):341-346.
[4] LIN M, YOON J, KIM B. A study and analysis for calculating the brake application time of AEB systems considering the gradient[J]. International Journal of Control & Automation,2015,8(6):283-292.
[5] MILANéS V, PéREZ J, GODOY J, et al. A fuzzy aid rear-end collision warning/avoidance system[J]. Expert Systems with Applications,2012,39(10):9097-9107.
[6] HAN J, HEO O, PARK M, et al. Vehicle distance estimation using a mono-camera for FCW/AEB systems[J]. International Journal of Automotive Technology,2016,17(3):483-491.
[7] HAN I C, LUAN B C, HSIEH F C. Development of autonomous emergency braking control system based on road friction[C]. IEEE International Conference on Automation Science and Engineering, IEEE,2014:933-937.
[8] LEE I H, LUAN B C. Design of autonomous emergency braking system based on impedance control for 3-car driving scenario[C]. SAE 2016 World Congress and Exhibition,2016:1453-1459.
[9] COELINGH E, EIDEHALL A, BENGTSSON M. Collision warning with full auto brake and pedestrian detectiona practical example of automatic emergency braking[C]. International IEEE Conference on Intelligent Transportation Systems, IEEE,2010:155-160.
[10] DIEDERICHS F, SCHüTTKE T, SPATH D. Driver intention algorithm for pedestrian protection and automated emergency braking systems[C]. International Conference on Intelligent Transportation Systems, IEEE,2015:1049-1054.
[11] LOPEZ A, SHERONY R, CHIEN S, et al. Analysis of the braking behaviour in pedestrian automatic emergency braking[C]. International Conference on Intelligent Transportation Systems, IEEE,2015:1117-1122.
[12] GROVER C, KNIGHT I, OKORO F, et al. Automated emergency brake systems: technical requirements, costs and benefits[J]. Automated Emergency Brake Systems: Technical Requirements, Costs and Benefits,2013,1(1):1-109.
[13] ERIKSSON H, JACOBSON J, HéRARD J, et al. On the design of performance testing methods for active safety systems[M]. Advanced Microsystems for Automotive Applications 2012, Springer Berlin Heidelberg,2012:187-196.
[14] 侯德藻,刘刚,高锋,等.新型汽车主动避撞安全距离模型[J].汽车工程,2005,27(2):186-190.
[15] 裴晓飞,刘昭度,马国成,等.汽车主动避撞系统的安全距离模型和目标检测算法[J].汽车安全与节能学报,2012,3(1):26-33.
[16] 裴晓飞,齐志权,王保锋,等.汽车前向主动报警/避撞策略[J].吉林大学学报:工学版,2014,44(3):599-604.
[17] 刘存星,魏民祥,顾亮.车辆紧急变道避撞安全距离建模与仿真研究[J].机械设计与制造,2016(2):17-20.
[18] 李霖,朱西产,马志雄.驾驶员在真实交通危险工况中的制动反应时间[J].汽车工程,2014,36(10):1225-1229.
[19] 李霖,朱西产,董小飞,等.自主紧急制动系统避撞策略的研究[J].汽车工程,2015,37(2):168-174.
[20] 李霖,朱西产.智能汽车自动紧急控制策略[J].同济大学学报:自然科学版,2015,43(11):1735-1742.
[21] 冯弟瑶,陈君毅,王宏雁,等.追尾避让中的AEB系统关键参数优化方法研究[J].汽车技术,2016(11):8-12.
[22] 许宇能,朱西产,李霖,等.基于单目视觉的车间TTC计算及追尾危险工况特征参数研究[J].佳木斯大学学报:自然科学版,2014(1):60-64.
[23] MCLAUGHLIN B, DINGUS A, HANKEY M, et al. Automotive collision avoidance system field operational test[DB/OL].[2012-09-29]. http://citeseerx.Ist.psu.edu/viewdoc/download?doi=10.1.1.133.4507&r-ep=rep1&type=pdf.
[24] 中国汽车技术研究中心.C-NCAP管理规定[Z/OL].[2017-04-20]. http://www.cncap.org/cms/files/cncap-regulation-2018.pdf.
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