面向无人驾驶车辆的行车安全场模型构建方法  

Construction method of driving safety field model for unmanned vehicles

作　　者：谢楚安 任羿[1] 杨德真[1] 冯强[1] 孙博[1] 王自力[1] XIE Chu’an;REN Yi;YANG Dezhen;FENG Qiang;SUN Bo;WANG Zili(School of Reliability and Systems Engineering,Beihang University,Beijing 100191,China)

机构地区：[1]北京航空航天大学可靠性与系统工程学院,北京100191

出　　处：《北京航空航天大学学报》2024年第4期1375-1383,共9页Journal of Beijing University of Aeronautics and Astronautics

基　　金：可靠性与环境工程技术国家级重点实验室基金(6142004210108)。

摘　　要：针对全面系统评价无人驾驶车辆行车安全方法欠缺的问题,提出一种改进的无人驾驶车辆行车安全场模型。考虑无人驾驶车辆复杂道路因素,人工智能(AI)系统感知、决策、控制3大模块的特性对无人驾驶车辆行车安全的影响,基于胡克定律,建立动态势能场及安全行为场相结合的无人驾驶车辆行车安全场数学模型,以此表征道路上静止物体、运动物体与AI系统自身等因素造成的行车风险。结合典型行驶场景的行车安全分析验证所提模型的正确性和可用性。In response to the shortage of comprehensive and systematic methods for evaluating the driving safety of unmanned vehicles,an enhanced driving safety field model is proposed,taking into account the impact of the complex road factors of unmanned vehicles as well as the characteristics of three artificial intelligence(AI)system modules:perception,decision-making,and control.A mathematical model of unmanned vehicle driving safety field combining dynamic potential field and safety behavior field is established based on Hooke’s law to characterize the driving risks caused by static objects,moving objects and AI system itself on the road.The correctness and usability of the proposed model is verified by the driving safety analysis of typical driving scenarios.

关 键 词：无人驾驶车辆 行车安全场 风险 行车安全评价 动态势能场 

分 类 号：X981[环境科学与工程—安全科学]