混杂工况下面向VRU安全的主动转向控制策略

doi:10.16265/j.cnki.issn1003-3033.2024.12.0252

摘要/Abstract

摘要：

为探明弱势道路使用者(VRU)由弯道外侧或内侧出发,以匀加速、匀减速、匀速运动状态横穿马路时,主动转向控制策略的保护功效。首先,建立汽车与VRU的空间位置关系模型、安全评估模型及主动转向安全距离模型,提出一种主动转向控制策略;然后,利用五次多项式换道法、Frenet坐标转换方法与模型预测控制方法,设计横向避撞控制器;最后,以电动自行车骑车人作为避撞对象,基于目标车道状态、电动自行车的运动方向和速度,构建18种混杂工况,验证主动转向控制策略的避撞效果。结果表明:混杂工况下,主动转向控制策略均能避免本车与电动自行车发生碰撞,同时,能够确保本车换道过程中,目标车道中的前车与后车以及本车正常行驶,且本车的乘坐舒适性较好。

关键词: 弱势道路使用者(VRU), 弯道, 运动状态, 主动转向, 混杂工况

Abstract:

This study investigated the protective effect of an active steering control strategy when VRU start from the outside or inside of a curve and cross the road with uniform acceleration, deceleration, and uniform velocity. Firstly, the spatial positional relationship models for vehicles and VRU, the safety assessment models, and the active steering safety distance models were established to propose an active steering control strategy. Then, a lateral collision avoidance controller was designed using the quintic polynomial lane-change method, the Frenet coordinate transformation method, and the model predictive control method. Finally, with electric bicycle riders as the collision avoidance targets, 18 mixed conditions were constructed based on the state of the target lane status, the movement direction, and the speed of the electric bicycle to verify the collision avoidance effect of the active steering control strategy. The results indicated the active steering control strategy avoided collisions between vehicles and electric bicycles under mixed conditions. The preceding, ego, and following vehicles in the target lane can drive normally during lane-changing, and the vehicle ride comfort was satisfactory.

Key words: vulnerable road users (VRU), curved road, motion states, active steering operation, mixed conditions

中图分类号:

X951交通运输安全

洪亮, 陈志豪, 李梁. 混杂工况下面向VRU安全的主动转向控制策略[J]. 中国安全科学学报, 2024, 34(12): 84-93.

HONG Liang, CHEN Zhihao, LI Liang. Active steering control strategy for VRU safety under mixed conditions[J]. China Safety Science Journal, 2024, 34(12): 84-93.

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