弯道AEB系统的目标识别算法及控制策略研究  

Research on target recognition algorithm and control strategy of AEB system in curved roads

作　　者：吴剑辉 吴长水 WU Jianhui;WU Changshui(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《上海工程技术大学学报》2024年第3期264-271,共8页Journal of Shanghai University of Engineering Science

摘　　要：针对现有的自动紧急制动(autonomous emergency braking,AEB)系统在弯道工况下存在误识别的情况,提出一种基于曲线坐标转换法的目标识别方法。通过传感器反映道路模型几何信息,利用曲线坐标转换法定位主车与目标车辆的位置,计算车辆之间的相对距离,采用逻辑门限制法确定危险目标车辆。针对基于安全距离模型或者碰撞时间(time to collision,TTC)算法的传统避撞算法无法兼顾制动过程中的安全性和舒适性问题,提出一种融合优化的Honda算法和TTC算法的纵向避撞控制策略。利用TTC算法作为前向碰撞预警策略,根据优化的Honda算法设计自动紧急制动策略。仿真结果表明,基于曲线坐标变换的方法能够精确计算主车与目标车辆之间的距离,准确且高效地识别危险目标车辆,基于安全距离算法和TTC算法协同控制的融合算法有效避免车辆纵向跟驰碰撞,兼顾了紧急制动过程的安全性和舒适性。A target recognition method based on curve coordinate transformation was proposed to address the challenge of misidentification in existing automatic emergency braking(AEB)systems under curved conditions.The geometric information of the road model could be reflects through sensors,the curve coordinate transformation method was used to locate the position of the main vehicle and the target vehicle,the relative distance between vehicles were calculated,and the dangerous target vehicle was determined by using the logic gate restriction method.A longitudinal collision avoidance control strategy combining the Honda algorithm and TTC algorithm were proposed to address the traditional collision avoidance algorithms based on the safe distance model or time-to-collision(TTC)algorithm,which cannot balance the safety and comfort issues during the braking process.Using the TTC algorithm as a forward collision warning strategy,and the autonomous emergency braking strategy was designed based on the optimized Honda algorithm.The simulation results show that the proposed method based on curve coordinate transformation can accurately calculate the distance between the main vehicle and the target vehicle,accurately and efficiently identify dangerous target vehicles.The fusion algorithm based on the collaborative control of the safety distance algorithm and TTC algorithm can effectively avoid longitudinal car following collisions,and take into account the safety and comfort of the emergency braking process.

关 键 词：自动紧急制动系统 曲线坐标转换法 碰撞时间算法 Honda算法 融合算法 

分 类 号：U461.91[机械工程—车辆工程]