摘要
为明晰无信号交叉口网联车辆协同碰撞预警研究的局限性及发展方向,系统梳理了协作式交叉口碰撞预警(CICW)的研究进展。首先,分类梳理了现有交叉口行车冲突检测方法的优势与不足;其次,总结了不同预警级别、机制和模式的适用性;再次,归纳了CICW有效性及安全性评价指标,对比了仿真、实车以及虚实融合测试的技术特征;然后,分析了驾驶人不确定性与通信不可靠对CICW的影响及优化思路;最后,对CICW的发展方向进行了展望。结果表明:行车风险场模型是解决现有CICW冲突检测方法中综合交通风险、冲突严重程度表征问题的可行方案,但仍需进一步研究适当的环境参数、风险指标及阈值的设定;CICW应用场景下的驾驶人驾驶特征的建模、预测和在线识别,以及CICW预警模式的自适应构建是设计可靠有效CICW应用的可行解决思路;实现对CICW的全方面客观评估,有赖于研究搭建综合评价机制及大规模试验平台;车联网通信不可靠严重影响CICW的有效性,需要进一步研究信道拥塞控制机制与基于通信故障/失效预测的CICW容错机制。
To clarify the limitations and development direction of the research on Collaborative Intersection Collision Warning(CICW),CICW research progress was reviewed systematically.Firstly,the advantages and disadvantages of the existing intersection traffic conflict detection methods were analyzed.Secondly,the applicability of different warning levels,mechanisms,and modes was summarized.Thirdly,the effectiveness and safety evaluation indexes of CICW were identified,and a comparison was made between simulation,real vehicle and virtual-real fusion testing.Then,the influence of driver uncertainty and unreliable communication on CICW and its optimization were analyzed.Finally,the future development direction of CICW was prospected.The results show that the traffic risk field model presents a feasible solution to solve the comprehensive characterization of risk and conflict severity in the existing CICW conflict detection methods.However,further research is needed to establish appropriate environmental parameters,risk indicators,and determination.Moreover,modeling,forecasting,and online identification of driver’s behavior in CICW application scenarios and the adaptive construction of CICW warning modes offer viable solutions to designing reliable and effective CICW applications.Achieving a comprehensive objective evaluation of CICW in all aspects depends on the research and establishment of a comprehensive evaluation mechanism and a large-scale experimental platform.The unreliable Internet Of Vehicle(IOV)communication seriously affects the effectiveness of CICW,so it is necessary to further study the channel congestion control mechanism and CICW fault-tolerant mechanism based on communication failure/failure prediction.
作者
凡海金
王润民
张心睿
杨澜
Fan Haijin;Wang Runmin;Zhang Xinrui;Yang Lan(Chang’an University,Xi’an 710018;Tongji University,Shanghai 201804)
出处
《汽车技术》
CSCD
北大核心
2024年第3期1-16,共16页
Automobile Technology
基金
国家自然科学基金重点项目(52232015)
国家重点研发计划项目(2021YFB2501200)
陕西省“两链”融合新能源与智能汽车重点专项(2021LLRH-04-01-03)。
关键词
无信号交叉口
协同碰撞预警
冲突检测
车联网通信
行车风险场
Unsignalized intersections
Cooperative collision warning
Collision detection
V2X
Traffic risk field
