强降雨场景下自适应巡航控制系统的安全控制策略  

Safety Control Strategy for Adaptive Cruise Control System in Heavy Rainfall Scenes

作　　者：赵超[1] 卜德旭 曹礼鹏 李克强[1] 罗禹贡[1] Zhao Chao;Bu Dexu;Cao Lipeng;Li Keqiang;Luo Yugong(School of Vehicle and Mobility,Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Beijing 100084;College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400030)

机构地区：[1]清华大学车辆与运载学院,汽车安全与节能国家重点实验室,北京100084 [2]重庆大学机械与运载工程学院,重庆400030

出　　处：《汽车工程》2022年第8期1117-1125,1236,共10页Automotive Engineering

基　　金：政府间国际科技创新合作重点专项(2019YFE0100200);国家自然科学基金项目(51975310);华为-清华智能驾驶和高精度地图关键技术验证平台合作项目联合资助。

摘　　要：本文针对强降雨场景下毫米波雷达的目标运动非预期测量误差较大引发ACC系统的预期功能安全问题,提出了强降雨场景下自适应巡航控制系统的安全控制策略。首先使用双状态卡方对毫米波雷达输出的目标信息进行检验,以确定其是否存在安全风险;接着通过卡尔曼滤波对存在安全风险的目标信息进行修正;然后将修正的目标信息输入ACC控制器控制车辆运动状态,实现安全控制;最后通过搭建的Prescan/Simulink联合仿真平台对提出的安全控制策略进行了仿真验证。结果表明:双状态卡方检验可及时检测风险信息(检测时间偏差在1.31 s以内),卡尔曼滤波修正误差在3.66 m以内,有效保证了ACC系统在强降雨场景下安全稳定运行。(ACC)system caused by the large unintended measurement error of target movement of millimeter wave radar in heavy rainfall scenes,a SOTIF safety control strategy for ACC system in heavy rainfall scenes is proposed in this paper. Firstly,double-state Chi-square is used to check the target information output by millimeter-wave radar to determine whether there exist SOTIF risks. Then the target information with safety risk is corrected by Kalman filter,with the target information corrected input into ACC controller to control vehicle motion state for achieving safety control.Finally,the Prescan/Simulink co-simulation platform is built to conduct verification simulation on the safety control strategy proposed. The results show that double-state Chi-square test can timely detect risk information with a detection time deviation within 1.31 s and a distance correction error of Kalman filter within 3.66 m,effectively ensuring the safe and stable operation of ACC system in heavy rainfall scenes.

关 键 词：自适应巡航控制系统 预期功能安全 强降雨 安全控制策略 

分 类 号：U463.6[机械工程—车辆工程]