The Rear-end Collision Avoidance Control Strategy Study Based On Drivers' Avoidance Behavior

Over the past decade,with the rapid development of chinese economy,car ownership has increased dramatically and the issues of traffic congestion often appear in our society.Various urban traffic problems has been one of the major social problems.Therefore,it is of great theoretical significance and application value to carry out research on the Driver Assistance System.The advanced driver assistance system(ADAS)which collecting the vehicle and environmental data with a wide variety of sensors installed on the car at any time to do a systematic calculate and analysis,so that the driver can be aware of the possible risk in advance,can effectively increase the comfort and safety of driving,improve traffic safety and reduce the occurrence of traffic accidents.In this paper,an active collision avoidance control strategy is proposed to prevent vehicle rear end collision under driving situation based on the characteristics of the driver's collision avoidance behavior.The collision avoidance strategy of lane changing,braking or lane changing and braking is adopted by the driver when they aware a rear-end collision hazard.A new strategy of collision avoidance is proposed in this paper based on the analysis of the two most common collision avoidance strategy of lane changing and braking respective.This paper firstly analyzes and summarizes the research results of collision avoidance at home and abroad,and collects various parameters of the driver's lane changing and braking behavior.Then the driver 's braking avoidance behavior and the lane changing behavior model are established respectively,and based on which the threat assessment model is proposed.Finally,the active collision avoidance control strategy,which combined with lane changing and braking is established to realize the rear end collision avoidance.Main research contents of this paper are as follows:(1)Collection of experimental data.In order to collect driver's collision avoidance(1)Collection of experimental data.In order to collect driver's collision avoidance parameter information,this paper designs a highway collision avoidance scene based on the driving simulator,and recruits the test driver,completes the rear-end collision avoidance experiment,which will lay the foundation for the further development of the characteristic parameter selection,the driver's collision avoidance behavior analysis and the establishment of collision avoidance control strategy.(2)the establishment of TDNN model for driver braking behavior.When the model training is carried out,the characteristic data of the driver's braking collision avoidance are input.The model of the three layer structure of the input layer-hidden layer-output layer and its related parameters are determined by comparing the accuracy and error value.The validity of the model is verified by the experimental collision avoidance behavior data.(3)Building the driver's lane changing trajectory model based on five degree polynomial.In the process of collision avoidance by lane changing,the trajectory of vehicle approximates to a five degree polynomial curve.Based on the expected lateral acceleration,desired diagonal distance and desired lateral displacement,a five degree polynomial trajectory tracking model is established to meet the driver's collision avoidance characteristics by lane changing.(4)The linear threat assessment model.Calculating the braking safety distance and lane changing safety distance by the two vehicle's speed,acceleration,relative distance and the driver's braking delay time,and based on this,the linear threat assessment is taken as the threshold value of the braking or lane changing avoidance.(5)Building the rear end collision avoidance control strategy.Firstly,based on the characteristics of driver 's braking avoidance,a three level rear end collision risk is classified and combining with time to collision(TTC)and time gape(TG),a braking collision avoidance control strategy is established.Then,the method of combining the linear state feedback control with the feedforward control is adopted to modify the lane reference to establish the lane changing collision avoidance control strategy.(6)Validation and evaluation of active collision avoidance based on driver 's collision avoidance behavior.The braking behavior prediction and path trajectory calculation of the model are carried out by using the experimental data of the driver 's brake collision avoidance model,and the effect of rear-end collision avoidance is verified.