Abstract:

In the scene of emergent collision avoidance， driver is prone to abnormal driving behavior due to panic and misjudgment. Therefore， detecting the abnormal behavior of driver in advance is of great significance to ensure the safety of the driver himself and the surrounding traffic. In view of this， a detection method of abnormal driving behavior that integrates the steering wheel angle residual sequence and the phase plane diagram judgment is proposed in this paper. Firstly， vehicle stability boundary is determined by using phase plane method. Then， the driver model is established based on model predictive control and the steering wheel angle residual sequence between the actual driving operation and the driver model reference input is constructed. Finally， the abnormal behavior factor and evaluation function of the driver are calculated to detect the abnormal behavior of the vehicle deviating from the expected driving trajectory. The results of simulation and hardware-in-the-loop test show that the abnormal driving behavior detection method proposed can detect the abnormal behavior of driver at least 0.5 s before the vehicle deviates from the desired trajectory.

Key words: emergent collision avoidance, driver’s abnormal behavior detection, residual error, abnormal behavior factor, evaluation function