摘要
为提高车辆自动紧急制动(AEB)系统的避撞性能,提出了一种考虑前车制动意图的AEB策略及其测试评价方法。通过搭建“PreScan+Simulink+驾驶模拟器”联合仿真平台采集驾驶人制动数据,基于K-均值(K-Means)聚类方法对制动意图进行分类,采用滑动时间窗口提取了意图识别模型训练数据集;通过双层隐马尔可夫模型识别前车制动意图,主车根据不同制动意图计算临界安全距离阈值并制定避撞控制策略;建立PreScan+Simulink虚拟仿真测试环境,提出了基于层次分析法的AEB策略综合评价方法,通过与4种典型AEB控制模型进行对比,验证了所提出方法在不同制动程度场景下均可及时触发制动以避免碰撞,同时可减少过早制动造成的驾驶不适感。
To improve the collision avoidance performance of the Autonomous Emergency Braking(AEB)system in dangerous braking scenarios,this paper proposed an AEB control strategy considering the braking intention of the front vehicle and its test and evaluation method.A joint platform of PreScan,Simulink,and driving simulator was established to collect drivers’braking operation data,classify the braking intention of the front car based on K-means clustering method,and use sliding time window to extract intention recognition model to train the dataset.The front car uses a double-layer hidden Markov model to identify the driver’s braking intention,while the main car calculates the critical safety distance threshold based on different braking intentions and performs collision avoidance control.A PreScan+Simulink virtual simulation and test environment was established,and AEB strategy comprehensive evaluation method was proposed based on Analytic Hierarchy Process(AHP).Four typical AEB control models were compared,which verified that the proposed method can timely trigger braking to avoid collisions in different braking scenarios,while reducing driving discomfort caused by premature braking.
作者
杨澜
杨一鹏
刘松岩
胡志强
杨炜
Yang Lan;Yang Yipeng;Liu Songyan;Hu Zhiqiang;Yang Wei(Chang’an University,Xi’an 710018)
出处
《汽车技术》
CSCD
北大核心
2024年第2期25-32,共8页
Automobile Technology
基金
国家重点研发计划项目(2021YFB2501200)
陕西省重点研发计划项目(2022GY-300)。
关键词
车辆主动安全
自动紧急制动
制动意图
测试与评价
联合仿真
Vehicle Active Safety
Autonomous Emergency Braking(AEB)
Braking intention
Test and evaluation
Joint simulation
