汽车防撞系统中的危险估计与超车决策

Risk Estimation and Decision Making for Overtaking of Automotive Collision Avoidance System

在分析了汽车驾驶过程动态模型及制动距离模型基础之上 ,该文提出了基于最小安全报警距离的危险估计算法。通过对超车过程中车辆行驶的运动学分析 ,推导出超车所应满足的前后纵向车距求解算法。结合曲率限制 ,得出了超车过程完成时间的取值范围 ,从而实现了超车过程行使参数的决策。结合大量实验数据得到了超车安全性区域决策图 ,准确快捷地实现了安全决策。实验表明 ,本文所提出的算法实时性强 。

Based on the analysis of dynamic model of vehicle traveling and model of braking distance, a minimal-safety -distance-based algorithm of risk estimation is presented in this paper. Through analyzing the kinematics characteristic of the overtaking process, an algorithm for solving the minimal longitudinal distance satisfied with the overtaking is deduced. Combining to the limit of curvature, the time interval of overtaking is obtained. Thereby, the decision-making for traveling parameter of overtaking is realized. A Regional Decision Map, easily and exactly decision making for overtaking, is obtained through vast experiments.