基于Prescan自动紧急制动系统分级控制策略研究

Research on Hierarchical Control Strategy for Autonomous Emergency Braking System Based on Prescan

为提高汽车跟车行为的安全性,提出一种基于有限状态机理论的自动紧急制动(AEB)控制策略。制定了分级预警和分级制动策略,通过碰撞时间模型(TTC)和安全距离模型确定出AEB系统的预警时机、制动时机和制动强度。在2021版C-NCAP主动安全测试场景下,通过PreScan和MATLAB/Simulink软件对提出的控制策略进行联合仿真验证。仿真结果表明:提出的AEB分级控制策略在C-NCAP各测试工况下均成功避撞,两车制动停止相对距离在1.93~3.29 m;自车实际减速度对AEB系统期望减速度跟随性好。

In order to improve safety of vehicle-following behavior,a control strategy based on finite-state machine for autonomous emergency braking(AEB)system was proposed.A hierarchical warning and braking strategy was developed,the warning timing,braking timing and braking intensity of the AEB system were determined by the TTC model and the safe distance model.Then the proposed control strategy was verified by co-simulation with Prescan and MATLAB/Simulink in the active safety test scenario of C-NCAP(2021).The simulation results show that the proposed hierarchical control strategy of AEB system can avoid collision successfully in all test conditions of C-NCAP,and the relative stopping distance between the two vehicles ranges 1.93~3.29 m.The actual deceleration of the self-vehicle follows well the expected deceleration of AEB system.