基于投影警示的智能汽车分级预警制动系统

doi:10.3969/j.issn.1674-8484.2025.03.006

摘要/Abstract

摘要：

为提升车辆的主动安全性能，降低盲区遮挡场景下人车碰撞事故数量，提出一种基于投影警示的智能汽车分级预警制动系统，专注于智能汽车与行人事故风险预警。利用分层策略分析制动系统：上层为分级预警制动系统安全决策方法，通过车辆与行人运动位置的变化探索盲区安全速度，根据盲区安全速度与当前车速的对比进行一级制动，与行人有碰撞风险时进行二级制动；下层执行控制模块搭建车辆逆纵向动力学模型，根据上层安全决策方法的期望减速度，搭建车辆节气门开度模型和制动压力控制模型，实现当前车速维持或减速运行。同时，该系统通过智能汽车的道路投影技术向前方地面投射警示信息，计算合理的投影长度与行人进行信息交互；并以传统经典的马自达（MAZDA）模型为参照，验证此系统的安全性及可行性，经630次仿真后发现分级预警制动系统未避免事故14例。针对未避免案例，进一步通过336次深度行人交互仿真模拟行人看到投影警示后的真实反应。结果表明：在行人正常反应能力范围内，分级预警制动系统可避免全部事故案例。研究结果可为自动紧急制动系统保护行人安全的相关研究提供支持，进一步提升其安全性。

关键词: 智能汽车, 汽车安全, 分级预警制动系统, 盲区安全速度, 道路投影

Abstract:

In order to improve the active safety performance of vehicles and reduce the number of human and vehicle collisions in the scene of blind area occlusion, an autonomous vehicle hierarchical early-warning braking system was proposed based on intelligent projection, focusing on the risk warning of smart car and pedestrian accidents.The hierarchical control strategy was used to model the braking system. The upper controller was a safety decision-making method for graded warning and braking systems, which explored the safe speed in the blind area through the change of the moving position of the vehicle and the pedestrian. The first stage braking was carried out according to the comparison between the safe speed in the blind area and the current speed, and the second stage braking was carried out when there was a collision risk with the pedestrian. The lower actuator established the inverse longitudinal dynamics model of the vehicle, and the throttle opening model and brake pressure control model of the vehicle were established according to the expected deceleration speed output of the upper controller, so as to maintain or decelerate the current speed. At the same time, the system used the road projection technology of smart cars to project warning information on the ground ahead, and carried out information interaction with pedestrians. The safety and feasibility of this system were verified by taking the traditional classic MAZDA model as the reference model. After 1 260 simulations, it was found that the hierarchical early-warning braking system did not avoid 14 accidents. For the unavoidable cases, 336 deep pedestrian interaction simulations were further conducted to simulate the real reactions of pedestrians after seeing the projected warnings. The results show that within the normal reaction capacity of pedestrians, the hierarchical early-warning braking system can avoid all accident cases. The research results can provide support for the research of automatic emergency braking system to protect pedestrian safety and promote its practical application.

Key words: intelligent vehicle, automative safety, stage warning brake system, blind speed, road projection

中图分类号:

U461.91

邹铁方, 付玺郡, 李艳春. 基于投影警示的智能汽车分级预警制动系统[J]. 汽车安全与节能学报, 2025, 16(3): 405-413.

ZOU Tiefang, FU Xijun, LI Yanchun. Intelligent vehicle grading warning and braking system based on projection warning[J]. Journal of Automotive Safety and Energy, 2025, 16(3): 405-413.

图/表 13

图1 盲区内车辆-行人位置及其运动学关系

图2 分级预警制动系统流程图

图3 维持不同车速的节气门开度曲线

图4 制动压力控制/节气门控制转换阈值

图5 整体仿真模型

盲区仿真参数	数值
盲区长×宽，l×w	4.8 m×2.1 m
车速，v_x	60 km/h
车辆一级制动减速度，a_x	0.4 g m/s²
行人横向坐标，d₁	5.25 m
行人速度，v_p	2 m/s
行人减速度，a_r	-4 m/s²
城市道路限速，v_max	60 km/h
最低车速，v_min	20 km/h

表1 仿真参数

图6 盲区安全速度曲线

图7 仿真实验设计图

图8 不同时刻车速、距离及人车相对位置

图9 测试场景图

图10 2种不同制动策略避碰效果对比

编号	v_p / (m·s^-1)	d_z / m	T_p / s	数量
1	1.0	1	4	1
2	2.0	1	5	1
3	2.0	2	3	1
4	2.5	1	3	1
5		2	4	1
6		3	4	1
7	3.0	1	5	1
8	3.0	1	4	1
9	3.5	1	5	1
10		2	5	1
11		2	5	1
12	4.0	1	5	2
13	4.0	2	5	1
总计				14

表2 分级预警制动系统未避免事故统计表

图11 未避免事故数与行人反应特征关系

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