基于动态碰撞时间的自动紧急制动策略设计  

Design of Automatic Emergency Braking Strategy Based on Dynamic Time to Collision

作　　者：杨贺博 张小俊[1] 罗耿耿 奚敬哲 Yang Hebo;Zhang Xiaojun;Luo Genggeng;Xi Jingzhe(Hebei University of Technology,Tianjin 300401;Great Wall Motor Co.,Ltd.,Baoding 071000;Automotive Engineering Research Institute,China Automotive Technology and Research Center,Tianjin 300300)

机构地区：[1]河北工业大学,天津300401 [2]长城汽车股份有限公司,保定071000 [3]中国汽车技术研究中心汽车工程研究院,天津300300

出　　处：《汽车技术》2024年第2期17-24,共8页Automobile Technology

基　　金：天津市科委新一代人工智能科技重大专项基金项目(18ZXZNGX00230)。

摘　　要：针对基于碰撞时间(TTC)的传统自动紧急制动(AEB)策略未考虑自车车速的局限性,提出了一种考虑车速的动态碰撞时间阈值模型,设计了基于动态碰撞时间阈值的AEB控制策略。为保证制动过程的舒适性与安全性,确定了两级制动策略并对减速度的变化率进行限制,利用PI控制算法完成车辆减速度控制,并通过仿真确定不同车速下的TTC阈值,建立动态碰撞时间阈值模型。硬件在环仿真结果表明:在保证舒适性的前提下,相比于传统AEB策略,所设计的AEB策略避撞成功率提高了47.6%,具有更优的综合性能。To address the limitation that the traditional Automatic Emergency Braking(AEB)strategy based on Time To Collision(TTC)does not take into account the speed of the vehicle,this paper proposed a dynamic collision time threshold model that took into account the vehicle speed and an AEB control strategy based on dynamic collision time threshold was designed.In order to ensure the comfort and safety of the braking process,a two-stage braking strategy was determined and the deceleration rate was designed,using PI control to complete the vehicle deceleration control.The TTC thresholds for different vehicle speeds were determined through simulation and a dynamic crash time threshold model was established.Hardware-In-the-Loop(HIL)simulation results show that the AEB strategy designed in this paper improves the collision avoidance success rate by 47.6%compared with the traditional AEB strategy under the premise of ensuring comfort,thus has better comprehensive performance.

关 键 词：自动紧急制动 碰撞时间 硬件在环仿真 制动过程 舒适性与安全性 减速度 阈值模型 PI控制算法 

分 类 号：U461.91[机械工程—车辆工程]