复杂工况下二阶碰撞时间自动紧急制动模型  

Automatic Emergency Braking Model Using Second-Order Time to Collision for Complex Condition

作　　者：郭烈[1] 孙大川 葛平淑 高建东 GUO Lie;SUN Da-chuan;GE Ping-shu;GAO Jian-dong(School of Automotive Engineering,Dalian University of Technology,Liaoning Dalian 116024,China;College of Me-chanical and Electronic Engineering,Dalian Minzu University,Liaoning Dalian 116600,China;School of Control Science and Technology Engineering,Dalian University of Technology,Liaoning Dalian 116024,China)

机构地区：[1]大连理工大学汽车工程学院,辽宁大连116024 [2]大连民族大学机电工程学院,辽宁大连116600 [3]大连理工大学控制科学与工程学院,辽宁大连116024

出　　处：《机械设计与制造》2022年第5期127-131,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51975089,51575079);中国博士后科学基金项目(2018M641688);辽宁省教育厅科学研究经费项目(LJYT201915)。

摘　　要：自动紧急制动是汽车安全行驶的重要保障,也是汽车智能化关键技术研究的重点和难点。针对传统防撞时间(Time To Collision,TTC)模型在复杂工况下,本车与目标车车辆速度接近时易出现无限大的问题导致预警过早或过晚的问题,以四轮独立驱动电动汽车为研究对象,提出一种基于二阶TTC的自动紧急制动模型。将目标车按照场景分为静止、ACC和Cut-in等三种类型,通过二阶TTC计算到可能碰撞时间,并与预设的时间阈值进行对比,力矩分配控制器根据当前输入信息计算得到制动力矩并传给车辆执行机构,车辆根据当前信息进行减速或紧急等辅助措施。利用联合仿真对该紧急制动模型进行了验证,结果表明当目标车存在加速度的情况下,该自动紧急制动模型相较与传统一阶TTC紧急制动模型能够很好地进行制动,防止车辆碰撞,并能有效适应复杂工况。Autonomous emergency braking is not only an important guarantee for the safe driving of vehicle,but also the key and difficult point on the research of key intelligent technologies of vehicle. In view of the traditional time to collision(TTC)model under the complex conditions,when the speed of the host vehicle is close to the speed of target vehicle,the infinite problem is likely to result in early or late warning. Taking the four-in-wheel motors drive electric vehicle as the research object,an autonomous emergency braking model based on second-order TTC is proposed. The target vehicles are classified into three types according to the scene classification,namely stationary,ACC and Cut-in. The second-order TTC model is utilized to calculate the possible collision time,which can be used to compare with the preset time threshold. The torque distribution controller calculates the braking torque and transfer it into the actuators based on the current input information. The vehicle executes slow down or emergency brake behavior based on the above information. Co-simulation is used to verify the emergency braking model. The results proved that the autonomous emergency braking model could perform better than the traditional first-order TTC emergency braking model when the target vehicle is accelerating,which helps to prevent the collision and adapt to the complex conditions.

关 键 词：复杂工况 场景分类 二阶TTC 紧急制动 

分 类 号：TH16[机械工程—机械制造及自动化] U461.3[机械工程—车辆工程]