强降雨场景下自适应巡航控制系统的安全控制策略

doi:10.19562/j.chinasae.qcgc.2022.08.001

Abstract

Abstract:

Aiming at the issue of safety of intended functionality （SOTIF） of adaptive cruise control （ACC） system caused by the large unintended measurement error of target movement of millimeter wave radar in heavy rainfall scenes， a SOTIF safety control strategy for ACC system in heavy rainfall scenes is proposed in this paper. Firstly， double-state Chi-square is used to check the target information output by millimeter-wave radar to determine whether there exist SOTIF risks. Then the target information with safety risk is corrected by Kalman filter， with the target information corrected input into ACC controller to control vehicle motion state for achieving safety control. Finally， the Prescan/Simulink co-simulation platform is built to conduct verification simulation on the safety control strategy proposed. The results show that double-state Chi-square test can timely detect risk information with a detection time deviation within 1.31 s and a distance correction error of Kalman filter within 3.66 m， effectively ensuring the safe and stable operation of ACC system in heavy rainfall scenes.

Key words: adaptive cruise control system, safety of the intended functionality, heavy rainfall, safety control strategy

Chao Zhao,Dexu Bu,Lipeng Cao,Keqiang Li,Yugong Luo. Safety Control Strategy for Adaptive Cruise Control System in Heavy Rainfall Scenes[J].Automotive Engineering, 2022, 44(8): 1117-1125.

Figures/Tables 21

参数	数值
$P t$	$10 ? m W$
$G$	$40 ? d B$
$f$	$77 ? G H z$
$τ$	$5 × 10 - 8 ? s$
$θ B W ?$	$2 °$
$σ t$	$15.85 ? m 2$
$F N$	$11 ? d B$
$B$	$500 ? M H z$
$T 0$	$293 ? K$
$t m$	$1 ? m s$
$t a$	$2 ? 800 ? m s$

References 24

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工况编号	场景描述	前车速度编号	降雨开始时间/s	降雨结束时间/s	距离测量误差/m
1	穿过雨区	1	20	45	2.91
2		2
3		3
4		4
5	持续降雨	1	20		2.91
6		2
7		3
8		4

工况编号	风险时间/s	检测时间/s	修正误差/m
1	20-40	20-40.21	0.561 2
2		20-40.42	0.288 2
3		20-40.80	0.823 0
4		20-41.31	1.762 3
5	20-60	20-60	0.561 2
6		20-60	0.288 2
7		20-60	0.823 0
8		20-60	3.659 3

Safety Control Strategy for Adaptive Cruise Control System in Heavy Rainfall Scenes

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