主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2022, Vol. 47 ›› Issue (19): 63-70.DOI: 10.16638/j.cnki.1671-7988.2022.019.013

• 测试试验 • 上一篇    

车辆自动紧急制动系统建模及试验

刘云鹏 1，关志伟*1,2，杜 峰 1，陈 强 1，张 绅 1，王 铎 1   

  1. 1.天津职业技术师范大学 汽车与交通学院； 2.天津中德应用技术大学 汽车与轨道交通学院
  • 出版日期:2022-10-15 发布日期:2022-10-15
  • 通讯作者: 关志伟
  • 作者简介:刘云鹏（1998—），男，硕士研究生，研究方向为智能网联汽车技术，E-mail:yunpengtute@163.com。 通讯作者：关志伟（1970—），男，博士，教授，研究方向为交通环境与安全、智能网联汽车技术，E-mail:zhiwguan@163.com。
  • 基金资助:
    天津市人工智能科技重大专项（17ZXRGGX00070）；天津市智能制造专项（ZZJ0011901）；天津市研究生科 研创新项目智能网联汽车专项（2021YJSO2S36）。

Modeling and Experiment of Autonomous Emergency Braking System in Vehicles

LIU Yunpeng1 , GUAN Zhiwei*1,2, DU Feng1 , CHEN Qiang1 , ZHANG Shen1 , WANG Duo1   

  1. 1.School of Automobile and Transportation, Tianjin University of Technology and Education; 2.School of Automobile and Rail Transportation, Tianjin Sino-German University of Applied Sciences
  • Online:2022-10-15 Published:2022-10-15
  • Contact: GUAN Zhiwei

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摘要： 为减少车辆追尾事故的发生，利用驾驶模拟器采集驾驶员数据，分析不同车速下的预 计碰撞时间阈值。当车辆到达设定的两倍预计碰撞时间阈值时给予警示，若驾驶员始终不介 入，到达预计碰撞时间阈值的 1.5 倍后启动制动提醒，到达预计碰撞时间阈值后会根据模糊 控制规则输出不同的期望制动减速度。与传统自动紧急制动控制策略做对比，运用 MATLAB/ Simulink 搭建控制策略，与 CarSim 进行联合仿真，最后使用快速控制原型测试平台进行试验 验证，结合仿真实验结果分析得出，文章中提出的自动紧急制动控制策略在制动过程中的制 动减速度及制动完成后的车距更小，驾驶员的舒适性更好。

关键词: 自动紧急制动；驾驶模拟器；模糊控制；制动减速度；快速控制原型

Abstract: In order to reduce the occurrence of vehicle rear-end accidents, the driving simulator is used to collect the driver data and analyze the predicted collision time thresholds at different speeds. When the vehicle reaches the set double expected collision time threshold, it is warned that if the driver does not intervene all the time, the braking reminder is started after reaching the expected collision time threshold about 1.5 times, and different expected braking decelerations are output according to fuzzy control rules after reaching the expected collision time threshold. Compared with the traditional autonomous emergency braking control strategy, the control strategy is built by MATLAB/Simulink, and the co-simulation is carried out with CarSim. Finally, the rapid control prototype test platform is used for experimental verification.Combined with the analysis of the simulation results, it is concluded that the autonomous emergency braking control strategy proposed in this paper has smaller braking deceleration and vehicle spacing after braking, and better driver comfort.

Key words: Autonomous emergency braking; Driving simulator; Fuzzy control; Braking deceleration; Rapid control prototype