面向预期功能安全的NOP巡航车速控制性能优化方法  

Performance optimization of NOP cruise speed control for safety of the intended functionality

作　　者：孙川 冯斌 许述财[1,2] 董浩[1] 穆文浩 秦征骁 李慢 SUN Chuan;FENG Bin;XU Shucai;DONG Hao;MU Wenhao;QIN Zhengxiao;LI Man(Suzhou Automotive Research Institute,Tsinghua University,Suzhou 215134,China;School of Vehicle and Mobility,Tsinghua University,Beijing 100084,China;Institute of Transportation Management Science,Ministry of Public Security,Wuxi 214151,China;Key Laboratory of Ministry of Public Security for Road Traffic Safety,Wuxi214151,China)

机构地区：[1]清华大学苏州汽车研究院,江苏苏州215134 [2]清华大学车辆与运载学院,北京100084 [3]公安部交通管理科学研究所,江苏无锡214151 [4]道路交通安全公安部重点实验室,江苏无锡214151

出　　处：《重庆理工大学学报（自然科学）》2023年第11期51-63,共13页Journal of Chongqing University of Technology：Natural Science

基　　金：国家重点研发计划项目(2018YFE0204302);国家自然科学基金项目(52002215);道路交通安全公安部重点实验室开放课题基金项目(2022ZDSYSKFKT05);江苏省自然科学基金项目(BK20220243);苏州市产业前瞻与关键核心技术项目(SYC2022078)。

摘　　要：为解决配备领航辅助系统(NOP)的车辆在视野盲区下因传感器性能局限导致NOP巡航车速控制能力下降的问题,引入预期功能安全设计方法及融合通信时延,提出NOP巡航车速控制性能优化方法。首先,基于STPA方法对NOP巡航车速控制功能进行风险评估,得到安全风险的触发条件并提出安全目标;其次,基于车-车通信获取不同驾驶工况的通信时延规律,解决通信时延对系统决策造成的影响;然后,制定交叉口路段车-车交互极限场景NOP巡航车速安全控制策略;最后,对提出的安全控制策略进行仿真和实车验证。结果表明:V2X-NOP巡航车速控制功能紧急减速制动时机对比单车感知提前启动,速度响应提前高达1.56 s,加速度响应提前高达2.26 s,NOP巡航车速控制能力的可靠性得到了加强。In order to solve the problem that the navigate on pilot(NOP)cruise speed control capability of vehicles equipped with NOP is reduced due to the sensor performance limitation in the visual field blind area,this paper introduces safety of the intended functionality design method and fusion communication delay,and proposes the NOP cruise speed control performance optimization method.Firstly,the risk assessment of NOP cruise speed control function is carried out based on the system theory process analysis method(STPA),the triggering conditions of safety risks are obtained,the safety objectives are proposed,and the system optimization is carried out according to the safety objectives.Secondly,the delay of communication equipment is studied by means of real vehicle experiment to obtain the regular characteristics of communication delay and the communication delay data of vehicle-vehicle communication under different working conditions.Based on the measured data,a delay law model is established,and the communication delay is introduced into the calculation model of the safety vehicle distance.Based on the analysis of the delay law based on the actual data,a vehicle cruising speed control distance model considering the communication delay is constructed to describe the trend of the communication delay changing with the working condition.Then,according to the established vehicle cruise speed control distance model considering communication delay,parameters such as speed,displacement and coordinates of environmental vehicles are accurately compensated and corrected to compensate for the impact of communication delay on system decision-making,thereby improving the performance and reliability of vehicle-vehicle communication system.Then,the NOP cruise speed safety control strategy in the limit scenario of vehicle-vehicle interaction at the intersection section is formulated.By judging whether the coordinate system projections of the two vehicles overlap,the collision risk between the two vehicles is detected.When the collis

关 键 词：预期功能安全 巡航车速控制 风险评估 车路协同 通信时延 

分 类 号：U463.6[机械工程—车辆工程]