考虑预期功能安全的智能汽车自动紧急制动系统

doi:10.19562/j.chinasae.qcgc.2022.06.001

Abstract

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

Dongkui Tan,Gangjun Hu,Bo Zhu,Lai Jin,Jie Zhang. Intelligent Vehicle Autonomous Emergency Braking System Considering Safety of the Intended Functionality[J].Automotive Engineering, 2022, 44(6): 799-808.

Figures/Tables 18

切换门限	执行方式
$a d > a s + h$	油门控制
$a d < a s - h$	制动控制
$a s - h ≤ a d ≤ a s + h$	怠速滑行

盲区及车辆参数	数值
盲区长度 $l / m$	10
盲区宽度 $w / m$	3.6
车辆制动减速度 $a x / (m · s - 2)$	4
城市道路限速 $v m a x / (m · s - 1)$	16.67
最低车速 $v m i n / (m · s - 1)$	5.56
整车质量 $m / k g$	1 270
车轮半径 $r / m$	0.215 9
主减速器传动比 $i 0$	4.1
发动机转动惯量 $J e / (k g · m 2)$	0.16
前轮总转动惯量 $J w r / (k g · m 2)$	1.8
后轮总转动惯量 $J w f / (k g · m 2)$	1.8
空气阻力系数 $c x / (k g · m - 1)$	0.125 4
滚动阻力系数 $f$	0.01

References 17

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错误行为类别	需要而不提供	不需要而提供	错误控制时间	错误持续时间	错误控制信号
不安全控制行为	前方有障碍物，车辆未减速	前方无障碍物，车辆自动减速	前方有障碍物，车辆过晚减速	前方有障碍物，车辆过早停止减速	前方存在潜在障碍物，车辆未及时减速
危险事件	车辆与障碍物碰撞		车辆与障碍物碰撞	车辆与障碍物碰撞	车辆与障碍物碰撞
安全目标	在一定距离内前方有障碍物时车辆自动减速		开始减速时车辆与障碍物保持足够距离	减速后的车辆不与障碍物碰撞	车辆提前控制速度不与潜在障碍物碰撞
不安全控制行为原因	传感器未识别；计算错误；执行机构故障	传感器错误识别；计算错误	传感器识别延迟；计算错误	传感器错误识别；计算错误	因盲区遮挡传感器无法识别
安全要求	（1）执行机构稳定可靠，响应速度及时；（2）传感器识别准确，信号采集速率快；（3）考虑传感器感知盲区问题，减速应对盲区内的障碍物。

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

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