重型商用车碰撞风险评估模型

陈建伟¹，白书战^1*，詹君²，李国祥¹

1.山东大学能源与动力工程学院,山东济南250061；2.潍柴动力股份有限公司,山东潍坊261061

摘要：为了提升重型商用车的主动安全性能，以充分考虑车间信息的预碰撞时间作为碰撞风险指数设计碰撞风险评估模型。模型采用分级避撞控制策略，上层控制器根据碰撞风险指数决策出期望制动加速度，下层控制器通过比例积分微分（proportional integral differential, PID）调节上层输出的期望制动加速度，计算所需的制动压力，对车辆实施避撞控制。采用TruckSim和Simulink联合仿真对模型进行验证。结果表明：该分级避撞控制策略能快速识别碰撞风险，并及时制动，制动完成后和前车保持的距离为2.077~3.267 m，有效避免碰撞。

关键词：重型商用车；主动避撞；分级制动；评估

Collision risk estimation model of a heavy-duty commercial vehicle

CHEN Jianwei¹, BAI Shuzhan^1*, ZHAN Jun², LI Guoxiang¹

1.School of Energy and Power Engineering, Shandong University, Jinan 250061,China;

2.Weichai Power Co.,Ltd., Weifang 261061, China

Abstract：In order to enhance the active safety of a heavy-duty commercial vehicle, a collision risk assessment model is designed by taking into account the pre-collision time of workshop information as the collision risk index. The model adopts a hierarchical collision avoidance control strategy. The upper controller determines the expected braking acceleration based on the collision risk index, while the lower controller adjusted the expected braking acceleration output from the upper layer through proportional integral differential (PID), and calculates the required braking pressure to implement collision avoidance control on the vehicle. TruckSim and Simulink joint simulation is carried out to validate the model. The results show that the hierarchical collision avoidance control strategy can quickly identify collision risks and brake in a timely manner. After braking, a distance of 2.077~3.267 m is maintained from the vehicle in front, effectively avoiding collisions. This risk assessment model can provide reference for the design of active collision avoidance systems for heavy commercial vehicle.

Keywords:heavy-duty commercial vehicle; active collision avoidance; hierarchic braking；estimation model