基于驾驶行为的汽车主动防撞预警系统的安全车距研究
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摘要
本文综合分析了目前全世界汽车交通安全的状况和汽车主动安全所采用的技术以及其研究现状,从汽车主动安全以及安全车距模型这两个方面着手进行研究,指出其发展现状、应用情况和存在的问题,从而说明安全车距模型的研究及设计在汽车主动安全中的重要作用及意义。
汽车行驶安全状态判断是汽车主动避撞系统功能实现的基础,而其核心内容之一是提出有效的安全车距模型。从提高汽车主动避撞系统实用性出发,安全距离模型要保证多数交通情况下主动避撞系统正常工作,减小由于误判断造成误操作的可能性。在保证安全的基础上,应以实际交通情况下驾驶员的驾驶特点作为安全距离模型建立的基础。
具有不同经验技能的驾驶员对安全跟车车距有不同的衡量标准,而驾驶员不同的身体及心理状况等个人因素,以及路况、天气、行车环境等都对车辆安全行驶状态的判别有影响。因此,作为车辆行驶安全状态判断标准的安全车距模型也必须同时反映出人、车、行驶环境状态的差异,使车辆防碰撞安全预警系统能满足不同驾驶员的个性化特征或驾驶状态,这样才能降低避撞系统的虚警率、误警率,在促进交通安全的同时提高交通效率。
本文在总结国内外关于主动避撞安全车距模型研究的基础上,分析了影响跟随车辆减速避撞操作的人的各种因素,提出了一种考虑驾驶员个体特征的安全行驶车辆间距模型,主要对安全车距模型的设计和行车安全状态的判定这两方面进行详细描述,从“驾驶员、车、环境”这三个影响汽车安全的主要因素出发,并将驾驶员这一重要因素放在首要考虑位置,完整的分析了驾驶员在各种生理状态下对驾驶状态的影响,并运用综合加权法完成经过修正的安全车距模型的设计。
根据建立的修正后车辆安全车距模型,利用Matlab/Simulink来建立汽车安全车距仿真模型进行仿真,以不同状态下驾驶员的反应时间为主要输入变量,从而完成修正后车辆安全车距模型的仿真。
本文的研究主要从驾驶员的角度考虑安全车距模型,将目前安全车距模型所忽略的驾驶员为出发点提出一种安全车距模型,研究结果为汽车主动安全提供一种有效的安全车距模型。
This comprehensive analysis of the present world situation of the traffic safety and security for the car hit the use of technology and research, the initiative of devoting the security and safety model of car from the present situation, the application of the situation and problem that the model car is the research and design in the active role and security.
The car by the state security is to realize the functions of collision avoidance system, and its core content is a valid safety from the model of car from the collision avoidance system to practical, safe from the model to ensure that the majority of traffic to the collision avoidance system, reduces normal work of the judgment made by the false operation of possibility. in that security based on actual cases to the driver driving features is a safe distance. the establishment of the model
this article mainly from the safe from the model car design and the security of the state of the judge described in more detail, from the people、cars evironment "the three affect the safety of the major factors, and people the driver is an important factor in the primary consideration, analysis of the pilot in all sorts of physical condition of a state, applying the law amended the completion of the safety of the model car design. according to the establishment of the revised model of car from the traffic safety of matlab and simulink for the safety of the car is a simulation model of emulation, the people of different states of the pilot response time is the main input variables and accomplishes the revised model of car from the traffic safety of emulation. this research mainly from the perspective of consider safe from the model car will be security model car is the neglected in the pilot made a safe distance, the model for the safety of research to provide an effective security.
汽车行驶安全状态判断是汽车主动避撞系统功能实现的基础,而其核心内容之一是提出有效的安全车距模型。从提高汽车主动避撞系统实用性出发,安全距离模型要保证多数交通情况下主动避撞系统正常工作,减小由于误判断造成误操作的可能性。在保证安全的基础上,应以实际交通情况下驾驶员的驾驶特点作为安全距离模型建立的基础。
具有不同经验技能的驾驶员对安全跟车车距有不同的衡量标准,而驾驶员不同的身体及心理状况等个人因素,以及路况、天气、行车环境等都对车辆安全行驶状态的判别有影响。因此,作为车辆行驶安全状态判断标准的安全车距模型也必须同时反映出人、车、行驶环境状态的差异,使车辆防碰撞安全预警系统能满足不同驾驶员的个性化特征或驾驶状态,这样才能降低避撞系统的虚警率、误警率,在促进交通安全的同时提高交通效率。
本文在总结国内外关于主动避撞安全车距模型研究的基础上,分析了影响跟随车辆减速避撞操作的人的各种因素,提出了一种考虑驾驶员个体特征的安全行驶车辆间距模型,主要对安全车距模型的设计和行车安全状态的判定这两方面进行详细描述,从“驾驶员、车、环境”这三个影响汽车安全的主要因素出发,并将驾驶员这一重要因素放在首要考虑位置,完整的分析了驾驶员在各种生理状态下对驾驶状态的影响,并运用综合加权法完成经过修正的安全车距模型的设计。
根据建立的修正后车辆安全车距模型,利用Matlab/Simulink来建立汽车安全车距仿真模型进行仿真,以不同状态下驾驶员的反应时间为主要输入变量,从而完成修正后车辆安全车距模型的仿真。
本文的研究主要从驾驶员的角度考虑安全车距模型,将目前安全车距模型所忽略的驾驶员为出发点提出一种安全车距模型,研究结果为汽车主动安全提供一种有效的安全车距模型。
This comprehensive analysis of the present world situation of the traffic safety and security for the car hit the use of technology and research, the initiative of devoting the security and safety model of car from the present situation, the application of the situation and problem that the model car is the research and design in the active role and security.
The car by the state security is to realize the functions of collision avoidance system, and its core content is a valid safety from the model of car from the collision avoidance system to practical, safe from the model to ensure that the majority of traffic to the collision avoidance system, reduces normal work of the judgment made by the false operation of possibility. in that security based on actual cases to the driver driving features is a safe distance. the establishment of the model
this article mainly from the safe from the model car design and the security of the state of the judge described in more detail, from the people、cars evironment "the three affect the safety of the major factors, and people the driver is an important factor in the primary consideration, analysis of the pilot in all sorts of physical condition of a state, applying the law amended the completion of the safety of the model car design. according to the establishment of the revised model of car from the traffic safety of matlab and simulink for the safety of the car is a simulation model of emulation, the people of different states of the pilot response time is the main input variables and accomplishes the revised model of car from the traffic safety of emulation. this research mainly from the perspective of consider safe from the model car will be security model car is the neglected in the pilot made a safe distance, the model for the safety of research to provide an effective security.
引文
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[2] Yi Kyongsu,Woo Minsu,Kim Sung Ha,et al.AnExperimental Investigation of a CW/CA System forAutomobile Using Hardware in the Loop Simulation[C]//Proceedings of the American Control Confer-ence.San Diego,California,1999:724-728.
[3]李晓霞,李百川,侯德藻,等.汽车追尾碰撞预警系统研究[J].中国公路学报,2001,14(3):93-95.
[4]杨伟,徐杰,李宗平.高速公路上跟随车安全距离的一种确定方法[J].四川工业学院学报,2001,21(1):20-22.
[5]马骏.高速公路行车安全距离的分析与研究[J].西安公路交通大学学报,1998,18(4):90-94.
[6]王文清,王武宏,钟永刚,等.基于模糊推理的跟驰安全距离控制算法及实现[J].交通运输工程学报,2003,3(1):72-75.
[7]徐杰,杜文,孙宏.跟随车安全距离的分析[J].交通运输工程学报,2002,2(1):101-104.
[8]肖梅.高速公路追尾碰撞预防报警系统再研究[D].西安:长安大学,2003.
[9] Genya A,John R.Alarm Timing,Trust and DriverExpectation for Forward Collision Warning Systems[J].Applied Ergonomics,2006,37:577-586.
[10] Zhang Yizhen,Erik K A,Karl G.A New ThreatAssessment Measure for Collision Avoidance Sys-tems[C]//Proceedings of the IEEE ITSC 2006,2006 IEEE Intelligent Transportation SystemsConference.Toronto,2006:968-975.
[11] Nakaoka M,Pongsathorn R, Nagai M.Study onForward Collision Warning System Adapted toDriver Characteristics and Road Environment[C]//International Conference on Control,Auto-mation and Systems 2008,in COEX.Seoul,2008:2890-2895.
[12] Hetrick S.: "Examination of driver lane change behavior and the potentialeffectiveness of warning onset rules for lane change or "side" crash avoidance systems," M.Sc. Thesis, Department industrial and system engineering, Virginia Polytechnic Institute, March 1997.
[13]. Lee S.E., Olsen E.C.B, and Wierwille W.W.: "A comprehensive examination of naturalistic lane changes," DOT Report HS 809 702 March 2004.
[14]. "44 Crashes," GM Report, NAO Engineering, Safety and Restraints Center, Crash Avoidance Department, Version 3.0, January 1997.
[15]. "Traffic Safety Facts 2001: a compilation of motor vehicle crash data from the fatality analysis reporting system and the general estimates system," DOT report HS 809 484, December 2002.
[16]. Wang J.S., Knipling R.R., Blicoe L.J.: "The Dimensions of motor vehicle crash Risk" Journal of Transportation and Statistics, Vol. 2, No. 1, May 1999, pp. 19-45.
[17]. Fiorini, P., and Shiller, Z., "Motion Planning in Dynamic Environments using Velocity Obstacles," International Journal of Robotics Research, Vol. 17, No. 7, pp. 760-772, July 1998.
[18]. Shiller, Z. Large, F., and Sekhavat, S., "Motion Planning in Dynamic Environments: Obstacle Moving along Arbitrary Trajectories," IEEE Int. Conf. on Robotics and Automation, May 2001.
[19]. C. W. Dodge, Euclidean Geometry and Transformations New York: Dover, 2004. 9. D. J. LeBlanc, R. J. Kiefer, R. K. Deering, M. A. Shulman, M. D. Palmer, and J. Salinger, "Forward Collision Warning: Preliminary Requirements for Crash Alert Timing," SAE 2001 World Congress, Intelligent Vehicle Initiative (IVI) Technology and Navigation Systems (SP–1593), Detroit, Michigan March 2001.
[20]. US DOT Report HS 809 886,“Automotive Collision Avoidance System Field Operational Test Final Program Report”, May 2005.
[21].应世杰,高速公路汽车防撞预警系统的开发研究[D].西安:长安大学,2006.
[22].何宏宇.汽车行驶安全性判定及仿真研究[D].吉林大学,2006
[23].郭亚军.综合评价理论与方法.北京:科学出版社,2002
[24].王军雷.高速公路汽车追尾防撞预警系统的研究开发[D].长安大学,2005.
[25]张殿业.驾驶员动态视野与行车安全可靠度[J].西南交通大学学报(自然科学版),2000,(3).
[26]周维新,李磊.汽车主动安全性的人机因素分析[J].人类工效学,1999,(4).
[27]于丽萍.现代汽车防撞系统[J].重型汽车,2000,(4).
[28]王荣本,李斌,储江伟,纪寿文.公路上基于车载单目机器视觉的前方车距测量方法的研究[J].公路交通科技,2001,(6).
[29]郑安文.我国高速公路交通事故的基本特点与预防对策[J].公路交通科技,2002,(4).
[30]贾志绚,李亚娟,卢兰萍.高速公路安全行车间距的探讨[J].太原重型机械学院学报,2001,(1).
[31]马骏.高速公路行车安全距离的分析与研究[J].西安公路交通大学学报,1998,(4).
[32]侯德藻,李克强,郑四发,连小珉.汽车主动避撞系统中的报警方法及其关键技术[J].汽车工程,2002,(5).
[33]钟勇,姚剑峰.行进中车辆临界安全车距的探讨[J].湖南大学学报(自然科学版),2001,(6).
[34]Valerie C.Coffey.Automakers turn to optoelectronics for safety.Laser Focus World,2001,No.10:32-36.
[35]王楦主编·现代汽车安全[M]·北京:人民交通出版社,1998
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