车联网环境下车辆主动避撞决策方法

Vehicle Active Collision Avoidance Decision Method in Internet of Vehicles Environment

结合驾驶员避撞行为特征和车联网信息获取优势,设计了车辆主动避撞决策。通过分析车辆制动过程得到临界制动距离,利用自车不同制动强度建立车辆纵向分级制动模型。在制动过程中加入不满累积度作为产生车辆换道意图的依据。基于Python和SUMO搭建了联合仿真平台,进行仿真验证。结果表明:在高速行驶环境中,与ITTC制动模型相比,文中方法能减少车辆制动跟随时间和换道次数,做出合理换道判断。

Combined with the characteristics of the driver’s collision avoidance behavior and the ad⁃vantages of information acquisition from Internet of vehicles,a decision-making method of vehicle ac⁃tive collision avoidance was designed.The critical braking distance was obtained by analyzing the brak⁃ing process of the vehicle.And the longitudinal hierarchical braking model of the vehicle was estab⁃lished by using different braking strengths of the vehicle.The accumulation of dissatisfaction was added as the basis for the vehicle’s lane-changing intention in the process of braking.Based on Python and SUMO,a joint simulation platform was built for simulation.The results show that,in the high-speed driving environment,compared with the ITTC braking model,the proposed method can reduce the vehi⁃cle braking follow-up time and lane change times,and make reasonable lane change judgments.