基于V2X的公交车盲区预警系统策略及测试验证

Strategy and Simulation Verification of Bus Blind Spot Warning System Based on V2X

为解决城市公交车运行过程中容易出现因视野盲区导致的交通事故问题,提出一种基于车路协同的盲区预警策略。首先,利用高斯克吕格投影建立公交车与盲区车辆的位置关系模型,通过车与路侧基础设施通信(V2I)获取盲区车辆或行人的相关信息;其次,基于碰撞时间(TTC)和避撞时间(TTA)2个评价指标建立预警算法;最后,基于Prescan和Simulink软件搭建测试模型并进行联合仿真,并依托深圳市坪山区智能网联测试示范区建立公交车盲区预警系统进行道路测试。结果表明,相较于传统单车感知,盲区预警策略在高速行驶场景下能够提前2.4 s检测到碰撞风险;在低速行驶场景下能够提前1.6 s检测到碰撞风险,系统运行稳定。

In order to solve the problem that traffic accidents caused by blind spots in the operation of urban buses are prone to occur,a blind spot warning strategy based on vehicle-road coordination is proposed.Firstly,the Gauskrüg projection is used to establish the position relationship model between buses and vehicles in the blind spot,and the relevant information of vehicles or pedestrians in the blind area is obtained through V2I(Vehicle to Infrastructure)vehicle-road communication.Secondly,an early warning algorithm is established based on two evaluation indicators:Time to Collision(TTC)and Time to Avoidance(TTA).Finally,based on Prescan and Simulink software,the test model is built and co-simulated,and the bus blind spot warning system is established by relying on the intelligent network test demonstration area in Pingshan District,Shenzhen for road testing,and the results show that compared with the traditional bicycle perception,the blind spot warning strategy can detect the collision risk 2.4 s in advance in the high-speed driving scenario,and the collision risk can be detected 1.6 s in the low-speed driving scenario,and the system runs stably.