基于驾驶人跟驰特性的前撞预警指标与阈值确定方法

doi:10.19562/j.chinasae.qcgc.2022.09.005

Abstract

Abstract:

In order to more reasonably select the forward collision warning indicator and set the personalized warning threshold for different drivers， a comprehensive evaluation method of forward collision warning indicator is proposed based on signal detection theory and rank sum ratio method， achieving the on-line identification and updating of driver’s response time based on vehicle following data. Natural driving experiments are carried out to collect driving behaviors data in urban traffic environment for verifying the effectiveness of on-line identification of driver’s response time. Furthermore， the personalized warning thresholds for different drivers are obtained through the statistical analysis and identification. The comprehensive comparison and analysis on the different warning indicator thresholds obtained show that among 6 forward collision warning indicators， safety margin is the best， risk perception factor the next， the rank sum ratio follows the order of reciprocal time to collision > time headway > warning coefficient， while the evaluation results of time margin fluctuate greatly.

Key words: traffic engineering, following behavior, forward collision warning, signal detection theory, warning indicators

Wenmin Long,Guangquan Lu,Xi Shi,Haitian Tan. Determination Method of Forward Collision Warning Indicator and Threshold Based on Drivers’ Car-Following Characteristics[J].Automotive Engineering, 2022, 44(9): 1339-1349.

Figures/Tables 16

FCWI	定义	固定参数取值
TTCi	$1 T T C i n = v n - v n - 1 D n$
THW	$T H W n = D n + l n - 1 v n$
TM	$T M n = D n v n + v n - 1 2 2 a m a x v n - 1 - v n 2 2 a m a x v n$	$a m a x = 7 ? m / s 2$
W	$W n = D n - D b r D w - D b r$ $D w = v n 2 2 a m a x - v n - 1 2 2 a m a x + v n (τ h + τ v) + D m i n$ $D b r = (v n - v n - 1) (τ h + τ v) + 0.5 a n - 1 (τ h + τ v) 2$	$τ v = 0.2 ? s τ h = 1 ? s ? a m a x = 6 ? m / s 2 ? D m i n = 5 ? m$
RP	$R P n = A T H W + B T T C$	$A = 1, ? B = 4$
SM	$S M n = 1 - τ v v n D n + v n - v n - 1 v n + v n - 1 2 a n D n$	$τ v = 0.15 ? s a m a x = 0.75 g$

编号	$τ n$ /s	TTCi/ s^-1	THW/s	TM/s	W	RP	SM
1	0.74	0.057	1.642	2.118	0.639	0.934	0.757
2	0.74	0.048	1.508	2.078	0.601	0.878	0.785
3	0.77	0.045	1.515	2.160	0.632	0.878	0.779
4	0.75	0.047	1.394	1.879	0.442	0.941	0.741
5	0.83	0.048	1.946	2.517	0.913	0.763	0.808
均值	0.77	0.049	1.601	2.151	0.645	0.879	0.774

编号	FCWI	$V σ$	$P (A)$ /%	$P (H)$ /%	$P (F A)$ /%	$d'$	$β$
1	TTCi	0.83	67.19	56.25	21.88	0.92	1.33
	THW	0.45	53.13	62.5	56.25	0.18	0.96
	TM	0.23	56.25	62.5	50	0.33	0.95
	W	0.64	54.69	59.38	50	0.23	0.97
	RP	0.42	59.38	53.13	34.38	0.49	1.09
	SM	0.18	60.94	50	28.13	0.58	1.19
2	TTCi	0.87	67.07	58.54	24.39	0.93	1.25
	THW	0.18	57.32	58.54	43.9	0.38	0.99
	TM	0.17	58.54	56.1	39.02	0.43	1.03
	W	0.43	58.54	60.98	43.9	0.43	0.97
	RP	0.29	64.63	58.54	29.27	0.78	1.14
	SM	0.11	67.07	60.98	26.83	0.89	1.16
3	TTCi	0.84	62.16	52.7	28.38	0.66	1.18
	THW	0.23	54.05	55.41	47.3	0.2	0.99
	TM	0.19	56.08	59.46	47.3	0.3	0.98
	W	0.45	59.46	63.51	44.59	0.48	0.95
	RP	0.32	62.84	52.7	27.03	0.69	1.2
	SM	0.13	63.51	51.35	24.32	0.73	1.28
4	TTCi	1.8	65.52	72.41	41.38	0.81	0.87
	THW	0.24	58.62	68.97	51.72	0.45	0.89
	TM	0.2	56.9	55.17	41.38	0.35	1.02
	W	0.58	65.52	65.52	34.48	0.82	1
	RP	0.48	65.52	68.97	37.93	0.8	0.93
	SM	0.18	62.07	62.07	37.93	0.61	1
5	TTCi	1.15	61.43	52.86	30	0.6	1.14
	THW	0.31	53.57	54.29	47.14	0.18	1
	TM	0.23	52.14	51.43	47.14	0.1	1
	W	0.49	52.14	51.43	47.14	0.1	1
	RP	0.44	59.29	52.86	34.29	0.49	1.09
	SM	0.14	60.71	54.29	32.86	0.54	1.1
均值	TTCi	1.1	64.67	58.55	29.2	0.78	1.15
	THW	0.28	55.34	59.94	49.26	0.28	0.96
	TM	0.2	55.98	56.93	44.97	0.3	0.99
	W	0.52	58.07	60.16	44.02	0.41	0.98
	RP	0.39	62.33	57.24	32.58	0.65	1.09
	SM	0.15	62.86	55.74	30.01	0.67	1.14

方法	FCWI	$V σ$	$P (A)$ /%	$P (H)$ /%	$P (F A)$ /%	∑R	RSR
传统秩和比法	TTCi	1	6	4	6	17	0.71
	THW	4	1	5	3	13	0.54
	TM	5	2	2	2	11	0.46
	W	2	3	6	1	12	0.50
	RP	3	4	3	4	14	0.58
	SM	6	5	1	5	17	0.71
非整秩次秩和比法	TTCi	1.00	6.00	4.18	6.00	17.18	0.716
	THW	5.32	1.00	5.75	1.00	13.07	0.544
	TM	5.74	1.34	2.35	2.07	11.50	0.479
	W	4.05	2.46	6.00	2.31	14.82	0.618
	RP	4.74	4.75	2.70	5.16	17.34	0.722
	SM	6.00	5.03	1.00	5.80	17.83	0.743
比例秩和比法	TTCi	0.82	6.00	5.84	6.00	18.66	0.777
	THW	3.21	5.13	5.98	3.56	17.88	0.745
	TM	4.50	5.19	5.68	3.90	19.27	0.803
	W	1.73	5.39	6.00	3.98	17.10	0.712
	RP	2.31	5.78	5.71	5.38	19.18	0.799
	SM	6.00	5.83	5.56	5.84	23.23	0.968

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项目		驾驶人决策
项目		制动	不制动
事实	达到阈值（预警）	正确预警	误报
事实	未达到阈值（不预警）	漏报	正确拒绝

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Determination Method of Forward Collision Warning Indicator and Threshold Based on Drivers’ Car-Following Characteristics

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Figures/Tables 16

References 28

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编号	年龄	驾龄/年	行驶里程/ 万km	跟驰案例数	案例平均时长/s
1	25	3	0.5-1	68	25
2	44	13	>5	61	32
3	49	19	>5	83	25
4	39	17	>5	41	27
5	41	20	3-5	82	23