[1]张三川,马 啸.基于轨迹加权预测的主动避撞安全距离模型及算法[J].郑州大学学报(工学版),2022,43(03):104-110.
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基于轨迹加权预测的主动避撞安全距离模型及算法()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
43
期数:
2022年03期
页码:
104-110
栏目:
出版日期:
2022-04-10

文章信息/Info

Title:
A Safe Distance Model and Algorithm for Active Collision Avoidance Based on Weighted Prediction of Trajectory
作者:
张三川马 啸
文献标志码:
A
摘要:
为有效解决现有主动避撞系统相邻前车变道切入工况下的车-车避撞问题,提高智能汽车的主动安全性,通过随预测时间变化的权重系数函数将 CTRA 恒角速度恒加速度运动模型和五次多项式变道轨迹模型进行加权融合,构建一种同时满足短时、长时的前车变道切入轨迹预测模型,在此基础上,建立了相邻前车变道切入工况下的主动安全距离模型,并设计了相适应的主动避撞算法。 通过 PreScan 搭建主动避撞场景并与 Simulink 进行联合仿真,结果表明:相邻前车变道切入轨迹加权融合模型较 2 种单一预测模型的预测精度显著提高,在所建立的仿真变道工况下,短时、长时模型预测绝对偏差分别为0. 09、 0. 18 m所设计的安全距离模型,当两车间隔距离小于或等于最小变道安全距离、两车间隔距离大于或等于最大变道安全距离的区域内均无碰撞危险,当两车间隔距离在最小变道安全距离和最大变道安全距离之间时,相邻前车变道切入,自车与变道切入车辆有追尾侧碰危险,主动避撞算法启动并及时介入车辆速度控制,使车辆分级减速实现避撞,并保持 5 m 的安全跟车距离,验证了加权融合变道轨迹预测下的安全距离模型及其主动避撞算法的正确性,对智能车辆主动安全设计具有重要理论意义。
Abstract:
In order to effectively solve the vehicle-to-vehicle collision problem in the lane change of adjacentvehicles , which could improve the active safetly of intelligent vehicles , a lane change lrajectory prediction mod-el satisfying both short-term prediction and long-term prediction was constructed by using the weighted fusionof CTRA motion model and quintic polynomial model. Based on this,the lane change safety distance modelwas established , and an appropriate active collision avoidance algorithm was designed. The results of PreS-can/Simulink co-simulation showed that the prediction accuracy of the trajectory weighted fusion model wassignificantly higher than that of the two basic models,and the absolute deviation of the short-time and long-time model was 0.09 m and 0.18 m in the established lane change simulation condition. The design of safetydistance showed that when D≤D... or D≥ D.T.. , the vehicle had no colision risk , and when D.inK<D<DTma ,there was a danger of rear-end collision if the adjacent vehicles in front change lane. When there was a colli-sion danger ,the active collision avoidance algorithm would start and intervene the speed control of the vehiclein time,which could make the vehicle slow down to realize collision avoidance, and finally maintain a safedistance of 5 m,which verified the correctness of the safety distance model and the collision avoidance algo-rithm with the prediction of weighted fusion lane change trajectory ,and would have important theoretical sig-nificance for the active safety design of intelligent vehicle.
更新日期/Last Update: 2022-05-02