智能汽车自动紧急控制策略

Autonomous Emergency Control Algorithm for Intelligent Vehicles

摘要:

结合驾驶员在紧急工况下的驾驶行为以及不同避撞方式的避撞效能，对以自动紧急制动系统（Autonomous Emergency Braking, AEB）为代表的控制策略进行分析，发现当前的紧急制动控制策略并不能很好地适应驾驶员行为和满足避撞效能的需要.为此，提出了一种融合制动控制和转向控制的自动紧急控制（Autonomous Emergency Control, AEC）策略.在该策略中驾驶员始终在环，系统通过集成驾驶员模型、车辆模型和道路环境模型信息判断驾驶员的行为是否正确，并将控制输入与驾驶员输入叠加在一起作为车辆的输入对驾驶员不当驾驶行为进行纠正.

Abstract:

The algorithm of AEB (autonomous emergency control) was analyzed based on driver behaviors and effectiveness of different collision avoidance maneuvers. The results show that the current emergency braking algorithm cannot well adapt to driver behaviors under emergency conditions and the potential of collision avoidance is also limited. Therefore, in this paper an autonomous emergency control (AEC) algorithm, which integrated braking and steering control, was proposed. In this algorithm the driver is always in the loop and the information of driver model, while the vehicle model and road environment model are integrated to determine the appropriateness of the driver’s behavior. The resulting corrective control input, which added to the driver’s input, is then used to correct the driver’s inappropriate behavior.