基于危险评估的自动紧急避撞控制策略

Automatic Emergency Collision Avoidance Control Strategy Based on Risk Assessment

基于车辆危险评估机制,设计了一种集成制动和转向的汽车自动紧急避撞控制策略。首先结合车辆安全性和最优换道轨迹,分析了在紧急工况下车辆制动和转向避撞临界纵向距离,然后建立了基于模糊推理的危险评估模型,该模型输出的危险因子反映车辆发生碰撞的危险程度,并以此建立汽车自动紧急避撞控制策略。最后基于PreScan和MATLAB/Simulink的虚拟平台仿真验证该控制策略的有效性。结果表明自车在跟车行驶时,对比基于碰撞时间倒数(TTC-1)单一全制动无法有效避开障碍物的危险工况,该避撞策略能够通过制动和自主换道来避免车辆发生碰撞,提高了车辆安全性。

Based on the vehicle risk assessment mechanism,an automatic emergency collision avoidance control strategy integrating braking and steering is designed.Firstly,considering combining vehicle safety and optimal lane change,the minimum longitudinal distance of vehicle braking and steering collision avoidance is analyzed in emergency.Then,establishing risk assessment model based on fuzzy reasoning,the vehicle collision avoidance control strategy is proposed based on the risk coefficient that reflects the risk degree of vehicle collision,and the coefficient is sent by the model.Finally,the joint simulation platform based on PreScan and MATALB/Simulink is to verify the effectiveness of the control strategy.The results show that the control strategy of single full brake based on inverse of time-to-collision(TTC^-1)cannot avoid obstacles effectively while the proposed collision avoidance control strategy is able to avoid the collision between vehicles through braking and autonomous lane changing,which improves vehicle safety.