汽车工程

汽车工程 ›› 2022, Vol. 44 ›› Issue (6): 799-808.doi: 10.19562/j.chinasae.qcgc.2022.06.001

所属专题： 智能网联汽车技术专题-规划&控制2022年

• •    下一篇

考虑预期功能安全的智能汽车自动紧急制动系统

谈东奎1,4,胡港君1,4,朱波1,4(),金来2,张捷3   

  1. 1.合肥工业大学汽车工程技术研究院，合肥 　230009
    2.安徽三联交通应用技术股份有限公司，合肥 　230081
    3.公安部交通管理科学研究所，道路交通安全公安部重点实验室，无锡 　214151
    4.合肥工业大学智能制造技术研究院，合肥 　230051
  • 收稿日期:2021-11-29 修回日期:2022-01-04 出版日期:2022-06-25 发布日期:2022-06-28
  • 通讯作者: 朱波 E-mail:zhubo@hfut.edu.cn
  • 基金资助:
    国家重点研发计划项目(2018YFB0105102);道路交通安全公安部重点实验室开放课题基金(2021ZDSYSKFKT05);安徽省科技重大专项(201903a05020016)

Intelligent Vehicle Autonomous Emergency Braking System Considering Safety of the Intended Functionality

Dongkui Tan1,4,Gangjun Hu1,4,Bo Zhu1,4(),Lai Jin2,Jie Zhang3   

  1. 1.Institute of Automotive Engineering Technology，Hefei University of Technology，Hefei 　230009
    2.Anhui Sanlian Applied Traffic Technology Co. ，Ltd. ，Hefei 　230081
    3.Traffic Management Research Institute of the;Ministry of Public Security，Key Laboratory of Ministry of Public Security for Road Traffic Safety，Wuxi 　214151
    4.Institute of Intelligent Manufacturing，Hefei University of Technology，Hefei 　230051
  • Received:2021-11-29 Revised:2022-01-04 Online:2022-06-25 Published:2022-06-28
  • Contact: Bo Zhu E-mail:zhubo@hfut.edu.cn

RichHTML

47

PDF (PC)

648

赞

摘要：

预期功能安全的提出，使得传统的自动紧急制动系统的安全性受到了挑战。为此，本文中利用基于系统理论过程分析（systems-theoretic process analysis，STPA）方法得到了自动紧急制动系统的预期功能安全要求，在传统的自动紧急制动系统基础上增加了感知盲区安全车速规划策略。然后基于盲区场景下车辆与行人相遇运动学模型，构造盲区安全车速公式。接着设计加入非线性干扰观测器的速度滑模控制器，对该速度进行跟踪控制，最后在CarSim与Simulink联合平台上开展仿真试验，比较此系统与没有增加预期功能安全要求的自动紧急制动系统的安全性，并进一步在硬件在环仿真试验台上验证。结果表明，考虑预期功能安全的自动紧急制动系统能有效降低行人碰撞风险，并确保车辆安全通过盲区的行驶效率。

关键词: 预期功能安全, 自动紧急制动系统, STPA, 感知盲区, 最佳安全车速, 干扰观测器, 滑模控制

Abstract:

The proposed safety of the intened functionality （SOTIF） has challenged the safety of traditional automatic emergency braking （AEB） system. To deal with it， this paper uses systems-theoretic process analysis （STPA） to obtain the SOTIF requirements of the AEB. On the basis of the traditional AEB， a safety speed planning strategy for the perceptual blind scenes is added. Then， based on the kinematics model of the encounter between the vehicle and the pedestrian in the perceptual blind scenes， the formula of blind scenes safe speed is constructed. Then a speed sliding mode controller with a nonlinear disturbance observer is designed to track and control the speed. Finally， the simulation test is carried out on the joint platform of CarSim and Simulink to compare the safety of the proposed system with the automatic emergency braking system without the intended functional safety requirements， which is further verified via the hardware-in-the-loop experiment. The results show that the AEB considering the SOTIF can effectively reduce the risk of pedestrian collision and ensure the efficiency of vehicles passing through blind spots safely.

Key words: SOTIF, AEB, STPA, perceptual blind scenes, optimal safe speed, disturbance observer, sliding mode control