汽车自动紧急制动系统行人避障策略及仿真

The Pedestrian Obstacle Avoidance Strategy and Simulation of Auto Automatic Emergency Braking System

为进一步提高汽车自动紧急制动系统对行人的安全保护功能,设计一种上层采用模糊控制方法和下层采用PID控制方法的联合分层控制行人避障策略。基于某款E级SUV车辆,建立相应的动力学模型,在实际行人测试环境下,建立基于碰撞时间算法的风险评价模型,为了验证所提出控制策略的有效性,通过Simulink和Carsim联合仿真进行测试验证。仿真测试结果表明,所提出的行人避障控制策略达到C-NCAP行人测试工况标准,与行人最小安全距离为0.9 m。在保证安全的前提下,模糊控制方法可调整制动强度,减速度控制在4.8~6.1 m/s 2,能够使车辆具有较好的舒适性。

To further improve the safety protection function of auto automatic emergency braking system for pedestrians,a combined hierarchical control strategy of fuzzy control for the upper layer and PID control for the lower layer was designed.Based on a certain E-class SUV vehicle,the corresponding dynamics model was established.In the actual pedestrian test environment,a risk evaluation model based on Time to Collision was established.To verify the effectiveness of the proposed control strategy,Simulink and Carsim co-simulation were applied.Simulation test results show that the proposed pedestrian avoidance control strategy meets the standard of C-NCAP pedestrian test conditions,and the minimum safe distance between the pedestrian and the pedestrian is 0.9 m.On the premise of ensured safety,and by the fuzzy control method,the braking strength can be adjusted and the speed can be reduced within 4.8~6.1 m/s 2,providing better comfort for vehicles have better comfort.