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汽车安全与节能学报

汽车安全与节能学报 ›› 2012, Vol. 3 ›› Issue (1): 26-33.DOI: 10.3969/j.issn.1674-8484.2012.01.004

• 汽车安全 • 上一篇    下一篇

汽车主动避撞系统的安全距离模型和目标检测算法

裴晓飞（1985—），男（汉），湖北，博士研究生。E-mail: peixiaofei7@gmail.com   

  1. 北京理工大学 机械与车辆学院，北京 100081
  • 收稿日期:2011-07-05 出版日期:2012-03-25 发布日期:2012-03-28
  • 通讯作者: 刘昭度，教授。E-mail: liuzhaod@bit.edu.cn E-mail:peixiaofei7@gmail.com
  • 作者简介:裴晓飞（1985—），男（汉），湖北，博士研究生。E-mail: peixiaofei7@gmail.com
  • 基金资助:

    国家自然科学基金（51005019）；国家部委预研项目基金（40401040302）

Safe distance model and obstacle detection algorithms for a collision warning and collision avoidance system

  1. School of Mechanical and Engineering, Beijing Institute of Technology, Beijing 100081,China
  • Received:2011-07-05 Online:2012-03-25 Published:2012-03-28

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摘要： 为辅助汽车驾驶员安全驾驶，开发了一种汽车主动避撞系统。该系统以“碰撞时间倒数”TTC-1
作为评价指标，采用了基于危险系数ε 进行分级报警与主动制动的安全距离模型，其关键参数按照
驾驶员特性进行标定。基于自适应巡航系统(ACC) 目标检测算法，设计了适用于避撞系统的毫米波雷
达算法。基于捷达轿车，开发了用于避撞系统的软硬件平台，并在良好路面下分别进行了主动避撞试
验和人为切换试验。实车试验表明：本系统的分级报警和主动制动功能，符合期望的TTC-1 指标，提
高了汽车的主动安全性，体现了驾驶员控制的优先性和协调性。

关键词: 主动安全, 驾驶辅助, 安全距离模型, 目标检测, 防撞报警, 主动避撞

Abstract: Safe-driving was assisted with key parameters calibrated according to the driver’s characteristics
using a developed system of vehicle collision warning and collision avoidance (CW/CA). The system defines the
inverse of time-to-collision (TTC-1) as the evaluation index with the grading warning and braking safe distance
model adopted based on hazardous level ε . A millimeter waveradar obstacle detection method was designed
with adaptive cruise control (ACC). The system configuration and control logic were designed based on a Jetta
car with the collision avoidance test and the manual / automatic interaction test implemented on dry roads. The
real car experiments show that the CW/CA system in accordance with desired TTC-1 index improves vehicle
active safety, and embodies the driver’s priority and cooperation.

Key words: active safety, driving assistance, safe distance model, obstacle detection, collision warning, collision avoidance

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