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

摘要： 目前，智能驾驶辅助系统发展势头迅猛，市场上量产车型搭载 ADAS（Advanced Driving Assistant System） 系统的比例也越来越高。在城市工况下交通更加复杂，交通拥堵辅助系统 TJA（Traffic Jam Assist System）相较于 传统的自适应巡航系统 ACC 更具有优势，但一个前向毫米波雷达和一个摄像头的配置仍具有一定局限性，由此五 个毫米波雷达与一个摄像头的配置（5R1V）在量产车辆上得到发展与应用。文章基于 5R1V 的交通拥堵辅助系统， 对于城市工况下的社会车辆并道工况作相关研究。在实际道路使用实车测试切入工况并结合驾驶员主观评价，得出 期望减速度与安全距离。分析 5R1V 的雷达覆盖范围，并建立车辆切入与减速模型，通过模型计算得到并道工况的 刹车时机，为 TJA 系统的车辆减速策略提供参考。

关键词: 交通拥堵辅助系统；模型；切入；减速时机