汽车自动紧急制动系统控制策略的预期功能安全设计

doi:10.19562/j.chinasae.qcgc.2022.09.002

Abstract

Abstract:

The safety risks the autonomous vehicles face not only come from the deficiencies of functional safety and information safety， but also stem from the insufficiencies of the safety of the intended functionality （SOTIF）. As an important part of autonomous driving system， the automatic emergency braking （AEB） system has SOTIF insufficiencies in control strategies. In this paper， the system theoretical process analysis method is adopted to analyze the safety of AEB system， find out the trigger events that may cause harm and put forward the corresponding safety objectives. Aiming at the safety objectives， a control strategy for AEB system based on detailed scenes are proposed. The control strategy proposed for AEB system is then verified in CarSim-MATLAB/Simulink environment. The results show that after functional corrections in both the event acceptance criterion and total risk acceptance criterion， the risk level of the system becomes much lower and the safety level of the system is apparently enhanced.

Key words: SOTIF, AEB, control strategy, risk assessment

Shunchang Duan,Xianxu Bai,Qin Shi,Weihan Li,Guannan He. The Design of the Safety of the Intended Functionality of the Control Strategies for Vehicle Automatic Emergency Braking System[J].Automotive Engineering, 2022, 44(9): 1305-1317.

Figures/Tables 16

场景	安全边界
前车静止	$d t h r = v e g o 2 2 a m a x + 0.1 × v e g o + d 0$
前车匀速行驶	$t t h r = v r a m a x - v r 2 - 2 a m a x (d r - d 0 - 0.1 × v r) a m a x + 0.1$
前车缓慢减速（后于自车停止）	$d t h r = v e g o 2 2 a m a x - v o b j 2 2 a o b j + 0.1 × v e g o + d 0$
前车急减速（先于自车停止）	$t t h r = v r a m a x - a o b j - ?$ $?? v r 2 - 2 a m a x - a o b j d r - d 0 - 0.1 × v r a m a x - a o b j + 0.1$

系统潜在危害行为	性能量化指标 $q i$	指标安全范围	指标权重 $w i$	指标编号
两车安全距离范围过远	两车安全距离d₀	d₀ $≥$ 1 m	5	ACUM01
两车安全距离范围过近	两车安全距离d₀	d₀ $<$ 1 m	10	ACUM02
系统启动阶段制动强度小	制动阶段平均减速度a_ave	a_ave $≥ 0.8 μ g$	10	ACUM03
遇到障碍物时系统启动时间过早	预计碰撞时间 $t k$	$t k ≤ 3 ? s$	5	ACUM04
紧急情况下制动系统未启动	制动系统启动ACT	ACT=0	500	EVNT01
系统启动但避撞失败	成功避撞AVO	AVO=0	200	EVNT02

场景	路面附着系数 $μ$	两车初始距离 $d r$ /m	自车速度 $v e g o$ /（km·h^-1）	前车速度 $v o b j$ /（km·h^-1）	前车减速度 $a o b j$ /（m·s^-2）
CCRs	0.7	60	30	0	0
CCRm	0.7	120	50	20	0
CCRb	0.7	40	50	50	2
CCRb	0.7	40	50	50	4

场景	路面附着系数 $μ$	两车初始距离 $d r$ /m	自车速度 $v e g o$ /（km·h^-1）	前车速度 $v o b j$ /（km·h^-1）	前车减速度 $a o b j$ /（m·s^-2）
CCRs	0.7	120	75	0	0
CCRs	0.5	60	40	0	0
CCRm	0.5	120	50	10	0
CCRb	0.7	50	75	75	4

场景	功能改进	EVNT01 AVO	EVNT02 ACT	ACUM01 d₀	ACUM02 d₀	ACUM03 a_ave	ACUM04 $t k$	单一场景风险
CCRs	前	0	0	4.542	4.542	6.3	1.2	62.7
CCRs	后	0	0	1.06	1.06	6.3	0.78	0.02
CCRm	前	0	0	4.519	4.519	6.3	1.2	61.9
CCRm	后	0	0	1.04	1.04	6.3	0.78	0.08
CCRb （ $a =$ -2 $m / s 2$ ）	前	0	0	0.276	0.276	6.3	1.2	5.24
CCRb （ $a =$ -2 $m / s 2$ ）	后	0	0	1.06	1.06	6.3	1.429	0.02
CCRb （ $a =$ -4 $m / s 2$ ）	前	0	0	1.085	1.085	6.3	1.2	0.04
CCRb （ $a =$ -4 $m / s 2$ ）	后	0	0	1.06	1.06	6.3	1.196	0.02
总体风险水平	前	129.88
总体风险水平	后	0.14

场景	功能改进	EVNT01 AVO	EVNT02 ACT	ACUM01 d₀	ACUM02 d₀	ACUM03 a_ave	ACUM04 $t k$	单一场景风险水平
CCRs （ $μ =$ 0.7）	前	0	1	-1	-1	6.3	1.2	200
CCRs （ $μ =$ 0.7）	后	0	0	1.406	1.406	6.3	1.67	0.82
CCRs （ $μ =$ 0.5）	前	0	1	-1	-1	4.4	1.2	200
CCRs （ $μ =$ 0.5）	后	0	0	1.237	1.237	4.4	1.35	0.3
CCRm	前	0	1	-1	-1	4.4	1.2	200
CCRm	后	0	0	1.242	1.242	4.4	1.36	0.3
CCRb	前	0	1	-1	-1	6.3	1.2	200
CCRb	后	0	0	1.411	1.411	6.3	2.08	0.85
总体风险水平	前	800
总体风险水平	后	2.27

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损失级别	损失内容
LV1	引起驾乘人员不舒适
LV2	妨碍驾驶员正常驾驶
LV3	妨碍其他交通参与者
LV4	碰撞造成车体损坏
LV5	碰撞造成人员伤亡

危害事件	危害具体描述	损失详情
HV1	当障碍物达到预警距离时，系统未执行预警	LV1
HV2	当障碍物达到制动距离时，系统未执行制动	LV1-LV5
HV3	当前方环境无碰撞风险时，系统进行预警	LV1、LV2
HV4	当前方环境无碰撞风险时，系统进行制动	LV1-LV3/LV4

编号	触发事件	潜在危害	危害分类	安全目标
HZ-01	车辆在湿滑路面行驶，车辆减速避撞	与障碍物相撞	HV2	避免湿滑路面上系统介入不及时
HZ-02	车辆在条件极好的路面行驶，车辆减速避撞	车辆被后车追尾	HV4	避免良好路面上系统介入过早
HZ-03	自车行驶速度过快，车辆减速避撞	与障碍物相撞	HV2	避免自车高速行驶下系统介入不及时
HZ-04	前车急减速，自车减速避撞	与障碍物相撞	HV2	避免前车急减速下系统介入不及时
HZ-05	前车缓慢减速，自车减速避撞	车辆被后车追尾	HV4	避免前车缓慢减速下系统介入过早
HZ-06	前车低速匀速行驶，自车减速避撞	与障碍物相撞	HV2	避免前车低速行驶下系统介入不及时
HZ-07	前车低速匀速行驶，自车减速避撞	车辆被后车追尾	HV4	避免前车低速行驶下系统介入过早

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The Design of the Safety of the Intended Functionality of the Control Strategies for Vehicle Automatic Emergency Braking System

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