基于TTC与AS的邻车切入场景下车辆主动避撞行为决策研究  

Research on Active Collision Avoidance Behavior Decision-making of Vehicles in Cut-in Scenarios Based on TTC and AS

作　　者：宫圣鑫 孙鑫 GONG Shengxin;SUN Xin(School of Mechatronics Engineering,Northeast Forestry University,Harbin 150040,China)

机构地区：[1]东北林业大学机电工程学院,哈尔滨150040

出　　处：《自动化与仪表》2024年第12期28-31,36,共5页Automation & Instrumentation

基　　金：黑龙江省重点研发计划项目(JD22A014)。

摘　　要：邻车突然变道切入本车道时,由于驾驶员疏忽或反应滞后,容易发生碰撞事故,因此有必要对该场景下车辆主动避撞行为决策进行研究,提高车辆主动安全性。该文针对邻车切入场景进行分析,基于碰撞时间(TTC,time to collision)和超车场景下碰撞安全距离(AS,anti-collision safe distance in cut-in scene)模型,对车辆主动避撞行为决策策略进行研究。在碰撞时间TTC的基础上,定义超车场景下碰撞安全距离模型AS,利用TTC判断本车是否存在碰撞风险,利用AS对存在碰撞风险的车辆转向或制动避撞行为进行决策。建立联合仿真模型,分别设置两种不同本车车速与切入车车速初始条件,在不同路面附着系数的路面进行仿真实验并对避撞过程进行分析。结果表明,在冰雪路面两种初始条件下,仅凭TTC值只能进行碰撞预警,无法进行避撞行为决策;增加AS后,可以在继续进行转向或制动避撞行为决策,有效避免碰撞事故的发生。所提出的基于TTC与AS的避撞行为决策能够进行碰撞预警并作出合理的避撞行为决策。When a neighboring vehicle suddenly cuts into the host lane,collisions are prone to occur due to driver negligence or delayed reactions.Therefore,it is necessary to research active collision avoidance decision-making in this scenario to enhance vehicle active safety.This paper analyzes the cut-in scenario and investigates the strategy for vehicle active collision avoidance decision-making based on the time to collision(TTC)and anti-collision safe distance in cut-in scene(AS)models.Building on the TTC,the AS model is defined for collision safe distance in the passing scene.The TTC assesses collision risk for the host vehicle,while the AS makes decisions on steering or braking to avoid collision for vehicles at risk.By establishing a unified simulation model and setting varying initial conditions for host and cut-in vehicle speeds,simulations are conducted on surfaces with different coefficients of adhesion,and the collision avoidance process is analyzed.The results demonstrate that on icy roads under two different initial conditions,relying solely on TTC values can only provide collision warnings without enabling collision avoidance decision-making.However,with the addition of AS,steering or braking decisions can be made to effectively prevent collision accidents.The proposed collision avoidance decision-making based on TTC and AS enables collision warnings and rational collision avoidance decision-making.

关 键 词：邻车切入场景 AS碰撞安全距离 主动避撞 行为决策 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U461.91[自动化与计算机技术—控制科学与工程]