CAJ | 학술논문

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。
위피면재위험출현시차량여행인발생팽당，제출료일충보조가사원채용긴급전향적공제책략。종500례발생재일상가사과정적위험공황중，사선출차량직행여행인발생충돌적전형위험공황。이용Prescan창건개발장경。선용오차다항식규화전향피당로경，이용전궤공제여반궤공제결합적책략，공제차량근종삼고로경。재Carsim화Matlab/Simulink배경하，기우이자유도차량동역학모형진행연합방진，이험증해책략적가행성、준학성화로봉성。결과표명：침대저류위험장경，해공제책략가이공제차량근종피당로경，이피면차량여행인발생팽당사고。
An evasive manoeuvre was designed based on typical vehicle-pedestrian use case to help drivers to get rid of the colision when a pedestrian crosses the road suddenly. A typical vehicle-pedestrian use case was obtained from 500 risk cases colected from daily driving. According to the characteristics of this typical risk case, a kind of scenario was built for the development of strategy. A iffth order polynomial was used to plan a reasonable path for colision 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 folowing the reference path. Combined with a vehicle handing model with two freedom degrees, the practicability, accuracy and robustness of the manoeurve was veriifed by a united simulation in Matlab/Simulink and Carsim environment. The results show that the performance of the steering strategy acts wel when tracking the reasonable reference path so as to avoid the colision between vehicle and pedestrian.