汽车主动避撞系统的安全距离模型和目标检测算法

摘要

为辅助汽车驾驶员安全驾驶,开发了一种汽车主动避撞系统。该系统以＂碰撞时间倒数＂TTC-1作为评价指标,采用了基于危险系数ε进行分级报警与主动制动的安全距离模型,其关键参数按照驾驶员特性进行标定。基于自适应巡航系统（ACC）目标检测算法,设计了适用于避撞系统的毫米波雷达算法。基于捷达轿车,开发了用于避撞系统的软硬件平台,并在良好路面下分别进行了主动避撞试验和人为切换试验。实车试验表明：本系统的分级报警和主动制动功能,符合期望的TTC-1指标,提高了汽车的主动安全性,体现了驾驶员控制的优先性和协调性。%Safe-driving was assisted with key parameters calibrated according to the driver’s characteristics using a developed system of vehicle collision warning and collision avoidance （CW/CA）. The system defines the inverse of time-to-collision （TTC-1） as the evaluation index with the grading warning and braking safe distance model adopted based on hazardous level ε. A millimeter waveradar obstacle detection method was designed with adaptive cruise control （ACC）. The system configuration and control logic were designed based on a Jetta car with the collision avoidance test and the manual / automatic interaction test implemented on dry roads. The real car experiments show that the CW/CA system in accordance with desired TTC-1 index improves vehicle active safety, and embodies the driver’s priority and cooperation.