自动紧急制动系统行人避撞策略及仿真验证
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摘要
为提高自动紧急制动系统对行人保护的安全性,提出了一种采用上层模糊控制和下层PID(proportion integration differentiation)控制的分层控制行人避撞策略。以某款E级SUV车辆为研究对象,建立其动力学模型,在国内外真实行人测试场景下,构建了基于TTC(time to collision)碰撞时间理论的风险评估模型,通过Matlab和CarSim软件的联合仿真,对控制策略进行了仿真验证。仿真结果表明:所提出的自动紧急制动系统行人避撞策略能满足国内行人测试工况标准,与行人最小安全距离为0.9m;在保证安全的前提下,模糊控制可自动调节制动强度,输出减速度范围控制在4.8～6.1m/s2,有较好的舒适性;TTC风险评估模型正确发出了行人碰撞预警,无漏警和误警发生。
In order to improve the safety of AEB(autonomous emergency braking)pedestrian protection,a hierarchical pedestrian collision avoidance strategy based on upper fuzzy control and lower PID control was proposed.Taking an E-class SUV vehicle as the research object,its dynamic model was established.Based on the real pedestrian test scenarios at home and abroad,the TTC(time to collision)risk assessment model was established.Then the control strategies were simulated and verified through the joint simulation of Matlab and CarSim.The simulation results show that the strategies of the pedestrian collision avoidance system can satisfy the domestic pedestrian test condition standards,and the minimum safe distance from vehicle to pedestrians is 0.9 m.The fuzzy control can automatically adjust the braking strength,the output deceleration range is controlled within 4.8 m/s2 to 6.1 m/s2 for better comfort on the premise of ensuring safety.The risk assessment model can correctly send out pedestrian collision warning signals without missed alarm and false alarm.
In order to improve the safety of AEB(autonomous emergency braking)pedestrian protection,a hierarchical pedestrian collision avoidance strategy based on upper fuzzy control and lower PID control was proposed.Taking an E-class SUV vehicle as the research object,its dynamic model was established.Based on the real pedestrian test scenarios at home and abroad,the TTC(time to collision)risk assessment model was established.Then the control strategies were simulated and verified through the joint simulation of Matlab and CarSim.The simulation results show that the strategies of the pedestrian collision avoidance system can satisfy the domestic pedestrian test condition standards,and the minimum safe distance from vehicle to pedestrians is 0.9 m.The fuzzy control can automatically adjust the braking strength,the output deceleration range is controlled within 4.8 m/s2 to 6.1 m/s2 for better comfort on the premise of ensuring safety.The risk assessment model can correctly send out pedestrian collision warning signals without missed alarm and false alarm.
引文
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[14]Coelingh E,Eidehall A,Bengtsson M.Collision warning with full auto brake and pedestrian detection-a practical example of automatic emergency braking[C]∥13th International IEEE Conference on Intelligent Transportation Systems,September 19-22,2010,Funchal,Portugal.IEEE,2010:155-160.
[15]Li X Q,Jiang J,Lu J.Safety differences between novice and experienced drivers under car-following situations[C]∥11th International Conference of Chinese Transportation Professionals,August 14-17,2011,Nanjing,China.American Society of Civil Engineers,2012:2196-2207.
[16]陆建,张文珺,杨海飞,等.基于碰撞时间的追尾风险分析[J].交通信息与安全,2014,32(5):58-64.LU Jian,ZHANG Wenjun,YANG Haifei,et al.Analysis of rear-end risk based on the indicator of time to collision[J].Journal of Transport Information and Safety,2014,32(5):58-64.(in Chinese)
[17]Eckert A,Sevenich M,Rieth P E.Emergency steer&brake assist-a systematic approach for system integration of two complementary driver assistance systems[J].European Journal of Political Research,2011,50(4):441-478.
[18]Zhang Y Z,Antonsson E K,Grote K.A new threat assessment measure for collision avoidance systems[C]∥2006IEEE Intelligent Transportation Systems Conference,September 17-20,2006,Toronto,Ont.,Canada.IEEE,2006:968-975.
[2]刘颖,贺锦鹏,刘卫国,等.自动紧急制动系统行人测试场景的研究[J].汽车技术,2014(3):35-39.LIU Ying,HE Jinpeng,LIU Weiguo,et al.Research on test scenarios for AEB pedestrian system[J].Automobile Technology,2014(3):35-39.(in Chinese)
[3]Tang B,Chien S,Huang Z,et al.Pedestrian protection using the integration of V2Vand the pedestrian automatic emergency braking system[C]∥2016IEEE 19th International Conference on Intelligent Transportation Systems(ITSC),November 1-4,2016,Rio de Janeiro,Brazil.IEEE,2016:2213-2218.
[4]Fernandez Llorca D,Milanes V,Parra Alonso I,et al.Autonomous pedestrian collision avoidance using a fuzzy steering controller[J].IEEE Transactions on Intelligent Transportation Systems,2011,12(2):390-401.
[5]Park M K,Lee S Y,Kwon C K,et al.Design of pedestrian target selection with funnel map for pedestrian AEB system[J].IEEE Transactions on Vehicular Technology,2016:1-1.
[6]Saito Y,Raksincharoensak P.Shared control in risk predictive braking manoeuvre for preventing collision with pedestrian[J]∥IEEE Transactions on Intelligent Vehicles,2016,1(4):314-324.
[7]Shimizu T,Raksincharoensak P.Motion planning via optimization of risk quantified by collision velocity accompanied with AEB activation[C]∥2017IEEE International Conference on Vehicular Electronics and Safety(ICVES),June 27-28,2017,Vienna,Austria.IEEE,2017:19-25.
[8]Doi A,Butsuen T,Niibe T,et al.Development of a rear-end collision avoidance system with automatic brake control[J].JSAE Review,1994,15(4):335-340.
[9]Seiler P,Song B,Hedrick J K.Development of a collision avoidance system[J].Neurosurgery,1998,46(2):492-492.
[10]Moon S,Yi K.Human driving data-based design of a vehicle adaptive cruise control algorithm[J].Vehicle System Dynamics,2008,46(8):661-690.
[11]Hayward J C.Near-miss determination through use of a scale of danger[J].Highway Research Record,1972,384:24-32.
[12]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.
[13]胡远志,吕章洁,刘西.基于PreScan的AEB系统纵向避撞算法及仿真验证[J].汽车安全与节能学报,2017,8(2):136-142.(in Chinese)HU Yuanzhi,LYU Zhangjie,LIU Xi.Algorithm and simulation verification of longitudinal collision avoidance for autonomous emergency break(AEB)system based on PreScan[J].Journal of Automotive Safety and Engergy,2017,8(2):136-142.
[14]Coelingh E,Eidehall A,Bengtsson M.Collision warning with full auto brake and pedestrian detection-a practical example of automatic emergency braking[C]∥13th International IEEE Conference on Intelligent Transportation Systems,September 19-22,2010,Funchal,Portugal.IEEE,2010:155-160.
[15]Li X Q,Jiang J,Lu J.Safety differences between novice and experienced drivers under car-following situations[C]∥11th International Conference of Chinese Transportation Professionals,August 14-17,2011,Nanjing,China.American Society of Civil Engineers,2012:2196-2207.
[16]陆建,张文珺,杨海飞,等.基于碰撞时间的追尾风险分析[J].交通信息与安全,2014,32(5):58-64.LU Jian,ZHANG Wenjun,YANG Haifei,et al.Analysis of rear-end risk based on the indicator of time to collision[J].Journal of Transport Information and Safety,2014,32(5):58-64.(in Chinese)
[17]Eckert A,Sevenich M,Rieth P E.Emergency steer&brake assist-a systematic approach for system integration of two complementary driver assistance systems[J].European Journal of Political Research,2011,50(4):441-478.
[18]Zhang Y Z,Antonsson E K,Grote K.A new threat assessment measure for collision avoidance systems[C]∥2006IEEE Intelligent Transportation Systems Conference,September 17-20,2006,Toronto,Ont.,Canada.IEEE,2006:968-975.
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