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汽车安全与节能学报

汽车安全与节能学报 ›› 2015, Vol. 6 ›› Issue (03): 217-223.DOI: 10.3969/j.issn.1674-8484.2015.03.003

• 汽车安全 • 上一篇    下一篇

基于车辆与行人危险工况的转向避撞控制策略

朱西产，刘智超，李霖   

  1. 同济大学 汽车学院，上海201804，中国
  • 收稿日期:2015-05-20 出版日期:2015-09-25 发布日期:2015-10-12
  • 作者简介:第一作者 / First author ： 朱西产(1962—)，男( 汉)，山西，教授。E-mail: xczhu@163.com 第二作者 / Second author ： 刘智超(1990—)，男( 汉)，内蒙古，硕士研究生，E-mail: changxiangni@163.com
  • 基金资助:

    上海张江国家自主创新示范区专项发展资金项目（2013-10-JD-B2-012）

Evasive manoeuvre for emergency steering based on typical vehicle-pedestrian use case

ZHU Xichan, LIU Zhichao, LI Lin   

  1. School of Automotive Studies, Tongji University, Shanghai 201804, China
  • Received:2015-05-20 Online:2015-09-25 Published:2015-10-12

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摘要：

为避免在危险出现时车辆与行人发生碰撞，提出了一种辅助驾驶员采用紧急转向的控制策略。
从500 例发生在日常驾驶过程的危险工况中，筛选出车辆直行与行人发生冲突的典型危险工况。利用
Prescan 创建开发场景。选用五次多项式规划转向避撞路径，利用前馈控制与反馈控制结合的策略，
控制车辆跟踪参考路径。在Carsim 和Matlab/Simulink 环境下，基于二自由度车辆动力学模型进行联
合仿真，以验证该策略的可行性、准确性和鲁棒性。结果表明：针对这类危险场景，该控制策略可
以控制车辆跟踪避撞路径，以避免车辆与行人发生碰撞事故。

关键词: 汽车主动安全, 自然驾驶, 危险工况, 紧急转向辅助, 路径规划, 避撞策略

Abstract:

An evasive manoeuvre was designed based on typical vehicle-pedestrian use case to help drivers
to get rid of the collision when a pedestrian crosses the road suddenly. A typical vehicle-pedestrian use case
was obtained from 500 risk cases collected from daily driving. According to the characteristics of this typical
risk case, a kind of scenario was built for the development of strategy. A fifth order polynomial was used to plan
a reasonable path for collision avoidance to ensure pedestrian safety. An evasive manoeurve for emergency
steering situation was built based on the combination of feed-forward control strategy and feedback control
strategy to keep the vehicle following the reference path. Combined with a vehicle handing model with two
freedom degrees, the practicability, accuracy and robustness of the manoeurve was verified by a united
simulation in Matlab/Simulink and Carsim environment. The results show that the performance of the steering
strategy acts well when tracking the reasonable reference path so as to avoid the collision between vehicle and
pedestrian.

Key words: automobile active safety, naturalistic driving, risk use cases, emergency steering assistance, path planning, evasive manoeuvre