基于驾驶员反应时间的自动紧急制动避撞策略

The Collision Avoidance Strategy of Automatic Emergency Braking System Considering the Response Time of the Driver

为建立更加精确、合理的汽车自动紧急制动系统(autonomous emergency braking system,AEBS)避撞控制策略,利用正交实验法、聚类分析法对不同驾驶员进行分类,拟合不同类别驾驶员的反应时间与驾驶速度之间的关系曲线,并将其应用于报警及制动阈值的修正。基于碰撞时间理论(time to collision,TTC)及模糊控制理论建立AEB系统的风险评估模型和制动减速度模糊控制模型。以某款SUV为研究对象建立车辆动力学模型,通过CarSim/Simulink联合仿真对避撞策略进行仿真验证。验证结果表明:该控制策略充分考虑到了不同驾驶员反应时间对AEB系统控制效果的影响,控制精度更高。模糊控制策略可以自动调节输出的制动减速度,驾驶员的驾驶舒适度较好。

In order to establish a more accurate and reasonable collision avoidance strategy for the autonomous emergency braking system,the method of orthogonal experiment and cluster analysis are used to classify different drivers,fit the relationship between the response time and driving speed of different categories of drivers and apply it to the correction of alarm and braking thresholds.Based on collision time theory and fuzzy control theory,the risk assessment model and braking deceleration fuzzy control model of the AEB system were established.The vehicle dynamics model was established with a SUV as the research object,and the CarSim/Simulink co-simulation was used to verify the collision avoidance strategy.The verification results show that the control strategy fully takes into account the influence of different driver response times on the control effect of AEB system,and the control accuracy is higher.The fuzzy control strategy can automatically adjust the output braking speed,and the driver’s driving comfort is better.