基于不安全控制行为分析的商用车AEB决策系统优化  

Improvement of an autonomous emergency-braking decision-making system for commercial vehicles based on unsafe control strategy analysis

作　　者：周涂强 刘伟[1] 李浩然 许述财 孙川[3,5] ZHOU Tuqiang;LIU Wei;LI Haoran;XU Shucai;SUN Chuan(School of Transportation Engineering,East China Jiaotong University,Nanchang 330013,China;School of Automobile and Traffic Engineering,Wuhan University of Science and Technology,Wuhan 430081,China;Suzhou Automotive Research Institute(Xiangcheng),Tsinghua University Suzhou,215299,China;State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing 100084,China;Department of Civil and Environmental Engineering,The Hong Kong Polytechnic University,Hong Kong 999077,China)

机构地区：[1]华东交通大学交通运输工程学院,南昌330013 [2]武汉科技大学汽车与交通工程学院,武汉430081 [3]清华大学苏州汽车研究院(相城),苏州215299 [4]清华大学汽车安全与节能国家重点实验室,北京100084 [5]香港理工大学土木及环境工程学系,中国香港999077

出　　处：《清华大学学报（自然科学版）》2023年第9期1415-1427,共13页Journal of Tsinghua University(Science and Technology)

基　　金：国家重点研发计划(2018YFE0204302);国家自然科学基金青年基金项目(52202413,52002215);香江学者计划(XJ2021028);江苏省自然科学基金青年基金项目(BK20220243);湖北省科技计划项目(2021BEC005,2021BLB225)。

摘　　要：现有的基于车载传感器的商用车自动紧急制动(AEB)系统存在视野盲区等原因,功能受到了很大的限制。为了提高商用车AEB系统的安全性和可靠性,该文提出了基于不安全控制行为分析的商用车AEB决策系统优化方法。首先,通过实车测试获取车车通信在不同工况下的通信时延规律,使用该时延规律对环境车的速度、位移和坐标等参数进行补偿修正,弥补通信时延对系统决策造成的影响。然后,制定交叉口路段处的商用车自动紧急制动策略,在两车即将碰撞时控制本车的制动系统以最大的制动减速度自动紧急制动,避免碰撞的发生,并基于不安全控制行为分析,对AEB决策系统进行优化。最后对提出的优化方法进行了仿真和实车测试,结果表明,该方法能够有效地防止两车在交叉口处相撞,具有较高的安全性和可靠性。[Objective]Most current automatic emergency-braking(AEB)systems perceive the surrounding environment through on-board sensors,which generally encounter the following issues:the cost of lidar is high,their performance in the presence of smoke medium and rain and snow weather is imprecise and is restricted by long-distance energy loss,and the millimeter-wave radar can only sense obstacles in a short distance.The monocular/binocular camera is greatly affected by objective factors,such as reduced visibility due to weather and nighttime,resulting in a small observation distance.At the intersection,the road traffic environment is complex,specifically when a commercial vehicle has a remarkable blind spot,and the function of the vehicle sensor is greatly limited.[Methods]To improve the safety and reliability of AEB systems,this work designs and studies an AEB system for commercial vehicles based on unsafe control behavior.First,a compensation method is proposed on the basis of the characteristics of vehicle-to-vehicle communication delay under different conditions.Real vehicle tests are conducted to collect data regarding the communication delay of vehicle-mounted communication equipment transmitting self-vehicle information under different working conditions.The average value is taken as the delay compensation in the safety distance and then added as compensation data to the established safety distance model in the AEB system based on vehicle-road coordination.The delay law is used to correct parameters such as the speed,displacement,and coordinates of the environmental vehicle to compensate for the impact of communication delay on system decision-making.An AEB strategy for commercial vehicles at the intersection section is described.The contours of the two vehicles are projected onto a coordinate system to determine whether the two vehicles overlap.When a collision risk is detected,the collision avoidance strategy of the two vehicles at the road intersection is implemented.When the two vehicles are about to collide,the

关 键 词：智能交通 自动紧急制动 车-路协同 通信时延 车辆避撞 

分 类 号：U461.91[机械工程—车辆工程]