自动驾驶环境中的行人安全:校准和评估责任敏感的安全模型
Xuesong Wang1, Caiyang Ye1, Mohammed Quddus2
1School of Transportation Engineering, Tongji University, Shanghai, 201804, China; The Key Laboratory of Road and Traffic Engineering, Ministry of Education, Shanghai 201804, China.
Accident; analysis and prevention
|August 24, 2023
概括
责任敏感安全 (RSS) 模型增强自动化车辆对行人安全. 在与真实世界的数据进行测试时,RSS被证明比自动紧急制动和人类驾驶员更安全.
科学领域:
- 汽车工程 汽车工程
- 机器人技术 机器人技术 机器人技术
- 交通安全 交通安全 交通安全
背景情况:
- 车辆与行人碰撞是一个主要的安全问题,特别是随着自动驾驶的兴起.
- 责任敏感安全 (RSS) 模型为安全的自动化车辆操作提供了一个数学框架.
- 现有的RSS校准不涵盖行人安全场景.
研究的目的:
- 校准和评估RSS模型的车辆和行人安全.
- 评估RSS性能与自动紧急制动 (AEB) 和人类驾驶相比.
- 为了优化RSS参数,以确保安全性和最小的保守性.
主要方法:
- 利用上海自然驾驶研究的数据,提取了近400个车辆与行人冲突.
- 将冲突分类为16个基本场景,重点是模拟交叉冲突.
- 使用MATLAB的Simulink进行虚拟车辆模拟,使用RSS控制器和非主导排序基因算法II进行校准.
主要成果:
- 与AEB和人类驾驶相比,校准的RSS模型在车辆与行人冲突中表现出优越的安全性能.
- RSS 控制导致了更平稳,更稳定的驾驶行为.
- 优化的RSS参数平衡安全最大化与最小化的运营保守性.
结论:
- RSS模型是自动驾驶汽车在与行人交互的可行且有效的安全措施.
- 这项研究为开发安全的自动驾驶系统提供了关键数据.
- 在自动驾驶汽车时代,RSS提供了一种可靠的方法来提高行人安全.
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