基于外部动态环境的汽车碰撞危险估计算法研究*

doi:10.19562/j.chinasae.qcgc.2019.03.010

汽车工程 ›› 2019, Vol. 41 ›› Issue (3): 307-312.doi: 10.19562/j.chinasae.qcgc.2019.03.010

基于外部动态环境的汽车碰撞危险估计算法研究^*

周兵¹,赵婳¹,吴晓建²,陈晓龙¹,曾凡沂¹

1.湖南大学,汽车车身先进设计制造国家重点实验室,长沙 410082;
2.南昌大学,南昌 330031

收稿日期:2018-05-28 出版日期:2019-03-25 发布日期:2019-03-25
通讯作者: 周兵,教授,博士生导师,E-mail:zhou_bingo@163.com
基金资助:
国家重点研发计划新能源汽车重点专项项目(2016YFB0100903-2)和国家自然科学基金(51875184)资助

A Study on Vehicle Collision Risk Estimation Algorithm Based on External Dynamic Environment

Zhou Bing¹, Zhao Hua¹, Wu Xiaojian², Chen Xiaolong¹ & Zeng Fanyi¹

1.Hunan University, State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Changsha 410082;
2.Nanchang University, Nanchang 330031

Received:2018-05-28 Online:2019-03-25 Published:2019-03-25

摘要/Abstract

摘要： 针对现有紧急情况下车辆的碰撞危险评估算法大多只考虑量测噪声干扰带来的不确定性,提出一种综合考虑路面动态环境不确定性和量测噪声干扰的汽车碰撞危险估计算法。首先,构建“路面状况车速最大减速度”模糊推理模型,即由路面状况和自车车速,经模糊推理智能算法快速获取车辆制动最大减速度;建立基于运动学的预测模型,考虑上述路面附着状况动态变化和传感器量测噪声带来的不确定性,采用蒙特卡洛法实时计算自车当前行驶环境下的碰撞概率。根据汽车动力学和道路有关参数预测车辆紧急制动和转向的轨迹,从而得到制动避撞与换道避撞的碰撞概率。以交叉路口和追尾工况为例,对比分析了不同路面情况下制动避撞和转向避撞的碰撞概率,从而为车辆选择合理的避撞方式。结果表明,所提出的危险估计算法与真实交通动态环境下的紧急避撞行为比较相符,具有良好的有效性和可行性。

关键词: 紧急避撞, 动态道路环境, 不确定性, 碰撞概率预测

Abstract: In view of that the most existing vehicle collision risk estimation algorithms under emergency only consider the uncertainty caused by measurement noise interference, a vehicle collision risk estimation algorithm is proposed concurrently considering both the uncertainty in dynamic road environment and that caused by measurement noise interference. Firstly, the fuzzy inference model for “road condition-speed-maximum acceleration” is constructed, in which the maximum braking acceleration of vehicle is quickly obtained by using the intelligent algorithm of fuzzy inference based on road condition and host vehicle speed. A kinematics-based prediction model is also established, and with consideration of the dynamic changes of road adhesion condition and the uncertainty caused by measurement noise interference, Monte Carlo method is used to calculate the crash probability of host vehicle under current driving environment. The trajectories of vehicle emergency braking and steering are predicted according to vehicle dynamics and road-related parameters and hence the crash probabilities with collision avoidance by braking or lane change are obtained. Taking the intersection crossing and rear end collision conditions as examples, the crash probabilities with braking and steering collision avoidances under different road conditions are contrastively analyzed so as to choose a reasonable mode of vehicle collision avoidance. The results show that the proposed risk estimation algorithm is relatively consistent with the emergency collision avoidance maneuver in real dynamic traffic environment with good effectiveness and feasibility

Key words: emergency collision avoidance, dynamic road environment, uncertainty, crash probability prediction

周兵,赵婳,吴晓建,陈晓龙,曾凡沂. 基于外部动态环境的汽车碰撞危险估计算法研究^*[J]. 汽车工程, 2019, 41(3): 307-312.

Zhou Bing, Zhao Hua, Wu Xiaojian, Chen Xiaolong & Zeng Fanyi. A Study on Vehicle Collision Risk Estimation Algorithm Based on External Dynamic Environment[J]. , 2019, 41(3): 307-312.

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基于外部动态环境的汽车碰撞危险估计算法研究^*

A Study on Vehicle Collision Risk Estimation Algorithm Based on External Dynamic Environment

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