| 自动紧急制动系统行人避撞策略及仿真验证 |
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| 引用本文： | 杨为,赵胡屹,舒红.自动紧急制动系统行人避撞策略及仿真验证[J].重庆大学学报(自然科学版),2019,42(2):1-10. |
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| 作者姓名： | 杨为 赵胡屹 舒红 |
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| 作者单位： | 重庆大学 机械传动国家重点实验室,重庆 400044;重庆大学汽车工程学院,重庆 400044;重庆大学汽车工程学院,重庆,400044 |
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| 基金项目： | 工信部智能网联汽车系统及通信标准化研究与试验验证平台建设项目（2016ZXFB06002）。 |
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| 摘 要： | 为提高自动紧急制动系统对行人保护的安全性,提出了一种采用上层模糊控制和下层PID(proportion integration differentiation)控制的分层控制行人避撞策略。以某款E级SUV车辆为研究对象,建立其动力学模型,在国内外真实行人测试场景下,构建了基于TTC(time to collision)碰撞时间理论的风险评估模型,通过Matlab和CarSim软件的联合仿真,对控制策略进行了仿真验证。仿真结果表明:所提出的自动紧急制动系统行人避撞策略能满足国内行人测试工况标准,与行人最小安全距离为0.9m;在保证安全的前提下,模糊控制可自动调节制动强度,输出减速度范围控制在4.8～6.1m/s2,有较好的舒适性;TTC风险评估模型正确发出了行人碰撞预警,无漏警和误警发生。
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| 关 键 词： | 智能汽车 自动紧急制动 模糊控制 行人避撞 联合仿真 |
| 收稿时间： | 2018/10/12 0:00:00 |
Simulation and verification of the control strategies for AEB pedestrian collision avoidance system |
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| YANG Wei,ZHAO Huyi and SHU Hong.Simulation and verification of the control strategies for AEB pedestrian collision avoidance system[J].Journal of Chongqing University(Natural Science Edition),2019,42(2):1-10. |
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| Authors: | YANG Wei ZHAO Huyi and SHU Hong |
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| Institution: | State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, P. R. China;School of Vehicle Engineering, Chongqing University, Chongqing 400044, P. R. China,State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400044, P. R. China;School of Vehicle Engineering, Chongqing University, Chongqing 400044, P. R. China and School of Vehicle Engineering, Chongqing University, Chongqing 400044, P. R. China |
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| Abstract: | In order to improve the safety of AEB (autonomous emergency braking) pedestrian protection, a hierarchical pedestrian collision avoidance strategy based on upper fuzzy control and lower PID control was proposed. Taking an E-class SUV vehicle as the research object, its dynamic model was established. Based on the real pedestrian test scenarios at home and abroad, the TTC (time to collision) risk assessment model was established. Then the control strategies were simulated and verified through the joint simulation of Matlab and CarSim. The simulation results show that the strategies of the pedestrian collision avoidance system can satisfy the domestic pedestrian test condition standards, and the minimum safe distance from vehicle to pedestrians is 0.9 m. The fuzzy control can automatically adjust the braking strength, the output deceleration range is controlled within 4.8 m/s2 to 6.1 m/s2 for better comfort on the premise of ensuring safety. The risk assessment model can correctly send out pedestrian collision warning signals without missed alarm and false alarm. |
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| Keywords: | intelligent vehicles autonomous emergency braking fuzzy control pedestrian collision avoidance joint simulation |
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