摘要
为提高自动紧急制动系统在城市路况下的适用性,提出了一种基于驾驶行为特性的自动紧急制动系统控制策略。首先搭建驾驶员在环测试实验台,采集不同驾驶员在制动过程中的驾驶数据,分析驾驶行为特性与车辆间相对运动状态之间的关系。然后以分层控制的思想设计一种两级预警与制动控制策略:上层控制器确定制动减速度及预警和制动触发时间阈值,下层控制器设计模糊PID控制器实现对制动主缸压力的控制。最后利用CarSim与Matlab/Simulink进行前车静止场景仿真,并搭建无人驾驶线控底盘测试平台进行半实物实验验证。结果表明:两级预警与制动功能均能有效触发,制动过程中实际制动减速度能够很好地跟随期望制动减速度,且制动完成后车间距均控制在2.15 m左右,体现了设计的AEB系统具有良好的预警和紧急避撞效果。
To improve the applicability of automatic emergency braking system(AEBS)in urban traffic conditions,a control strategy based on driving behavior characteristics was proposed.Firstly,a driver-in-theloop test platform was constructed to collect driving data from different drivers during braking processes,and analyze the relationship between driving behavior characteristics and the relative motion state between vehicles.Then,a two-level warning and braking control strategy was designed based on the idea of hierarchical control.The upper-level controller determined the braking deceleration,warning,and braking trigger time thresholds,while the lower-level controller designed a fuzzy PID controller to control the brake master cylinder pressure.Finally,CarSim and Matlab/Simulink were used to simulate a rear-end collision scenario with a stationary vehicle,and an unmanned driving wire-controlled chassis test platform was constructed for semi-physical experiment verification.The results showed that both the two-level warning and braking functions can be effectively triggered,the actual braking deceleration can closely follow the desired braking deceleration during braking,and the inter-vehicle distance can be controlled at around 2.15 m after braking,indicating the excellent warning and emergency avoidance performance of the designed AEBS.
作者
杜峰
程剑锋
齐蕾
杜琼
刘云鹏
徐慧
DU Feng;CHENG Jianfeng;QI Lei;DU Qiong;LIU Yunpeng;Xu Hui(National and Local Joint Engineering Center for Intelligent Vehicle-Road Collaboration and Safety,Tianjin 300222,China;Tianjin Intelligent Transportation Technology Engineering Center,Tianjin 300222,China;School of Automotive and Transportation,Tianjin University of Technology and Education,Tianjin 300222,China)
出处
《河南科技大学学报（自然科学版）》
CAS
北大核心
2023年第6期16-25,M0003,共11页
Journal of Henan University of Science And Technology:Natural Science
基金
国家重点研发计划项目(2017YFB0102500)
天津市人工智能科技重大专项(17ZXRGGX00070)
天津市自然科学基金项目(16JCZDJC38200)
天津市研究生科研创新项目(2021YJSS221)
天津市研究生科研创新项目车联网专项(2022SKYZ387)。
