关键词: 交通拥堵辅助系统；模型；切入；减速时机

Abstract: At present, the development of intelligent driving assistance systems is growing rapidly, and the proportion of mass-produced vehicles on the market equipped with ADAS (Advanced Driving Assistant System) systems is also increasing. In urban conditions, the traffic is more complicated. Compared with the traditional adaptive cruise system ACC, the traffic jam assist system has more advantages, but the configuration of one forward millimeter wave radar and a camera still has certain limitations. The configuration of five millimeter wave radars and a camera (5R1V) has been developed and applied in mass production vehicles. Based on the 5R1V traffic jam assistance system, this paper does related research on the combining track of social vehicles under urban conditions. On the actual road, the actual vehicle is used to test the cut in conditions, and combined with the subjective evaluation of the driver, the expected deceleration and safety distance are obtained. Analyze the radar coverage of 5R1V and establish the vehicle cut-in and deceleration model. The braking timing of the combining track is calculated through the model, which provides a reference for the vehicle deceleration strategy of the TJA system.

Key words: Traffic jam assist; Model; Cut in; Deceleration timing