基于高频高精度定位信息的车辆轮廓冲突瞬时预测方法
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摘要
车辆避撞预警系统是高级驾驶辅助系统(ADAS)研究的关键内容,也是降低道路事故率的有效途径。目前,车辆避撞预警的一般实施途径是通过在车辆上布设多元传感设备进行相对间距检测,并通过智能算法对碰撞条件进行判断。但由于该方法存在传感设备成本高昂、受环境噪声影响大等缺点,应用条件仅局限于单车智能。基于此,在卫星导航、车路协同技术快速发展的背景下,提出一种依托北斗高精度定位技术,利用车载终端获取高频(5 Hz)、高精度(厘米级)车辆定位数据进行车辆避撞预警的方法,该方法立足车路协同角度,构建包括路侧北斗连续运行参考站系统、车路通信系统、车载定位预警终端的车辆避撞预警体系,并建立基于实时位置信息的车辆轮廓冲突瞬时预测模型。为验证模型可靠性,设计动、静态试验对定位精度进行验证,并在西安绕城高速约7 km试验路段开展3次实车试验,共采集约6 000个有效样本数据对轨迹预测精度进行评估。研究结果表明:静态条件下,用于评价定位精度的圆概率误差C_(EP50),C_(EP95)分别为1.51,3.24 cm;行车速度为80～100 km·h~(-1)条件下,通过2 317组数据对比分析,采用车载定位设备与成熟产品天宝接收机(亚米级精度)获取的定位数据的误差均值为1 cm,标准差为1.38 cm;行车速度为80～100 km·h~(-1)条件下,定位数据的真实值与预测值的横向误差标准差可达厘米级,纵向误差标准差可达分米级,该级别精度可满足车辆避撞短临预警要求。
The vehicle collision warning system is a key component of advanced driver-assistance systems(ADAS), which can effectively reduce the traffic accident rate. The core technology of the vehicle collision warning system involves the detection of distance to a vehicle in front by multiple on-board sensors and determination of safety indicators. However, owing to its high cost and environmentally sensitive nature, this method is not widely promoted. This paper proposed a novel method based on a BeiDou Navigation Satellite System(BDS), which has recently gained popularity in the field of transportation. First, position information at the centimeter-level was collected by the onboard terminal at a frequency of 5 Hz by using BDS-based continuously operating reference stations system(CORS) built along the highway. Second, a model was proposed to predict the vehicle outline conflict at the target moment. This was demonstrated in a 7 km section of an expressway in Xi'an. From the field experiment, 6 000 samples were collected. The results indicate: ① In a static state, a centimeter precision level is achieved; ② At speeds of 80-100 km·h~(-1), a decimeter precision level is attained; ③ The standard deviation of the errors between the actual values and predicted values for the lateral and longitudinal distance can reach up to centimeter-level and decimeter-level respectively. The method proposed in this paper is feasible and extendable because of the high accuracy of the model.
The vehicle collision warning system is a key component of advanced driver-assistance systems(ADAS), which can effectively reduce the traffic accident rate. The core technology of the vehicle collision warning system involves the detection of distance to a vehicle in front by multiple on-board sensors and determination of safety indicators. However, owing to its high cost and environmentally sensitive nature, this method is not widely promoted. This paper proposed a novel method based on a BeiDou Navigation Satellite System(BDS), which has recently gained popularity in the field of transportation. First, position information at the centimeter-level was collected by the onboard terminal at a frequency of 5 Hz by using BDS-based continuously operating reference stations system(CORS) built along the highway. Second, a model was proposed to predict the vehicle outline conflict at the target moment. This was demonstrated in a 7 km section of an expressway in Xi'an. From the field experiment, 6 000 samples were collected. The results indicate: ① In a static state, a centimeter precision level is achieved; ② At speeds of 80-100 km·h~(-1), a decimeter precision level is attained; ③ The standard deviation of the errors between the actual values and predicted values for the lateral and longitudinal distance can reach up to centimeter-level and decimeter-level respectively. The method proposed in this paper is feasible and extendable because of the high accuracy of the model.
引文
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[18] 胡远志,吕章洁,刘西.基于PreScan的AEB系统纵向避撞算法及仿真验证[J].汽车安全与节能学报,2017,8(2):136-142.HU Yuan-zhi,LU Zhang-jie,LIU Xi.Algorithm and Simulation Verification of Longitudinal Collision Avoidance for Autonomous Emergency Break (AEB) system [J].Automotive Safety and Energy,2017,8 (2):136-142.
[19] 宋晓琳,熊琦玮,曹昊天.基于轨迹预测的车辆协同碰撞预警仿真研究[J].湖南大学学报:自然科学版,2016,43(10):1-7.SONG Xiao-lin,XIONG Qi-wei,CAO Hao-tian.Research and Simulation on Cooperative Collision Warning Based on Trajectory Prediction [J].Journal of Hunan University:Natural Sciences,2016,43 (10):1-7.
[20] 张乐,李武周,巨养锋,等.基于圆概率误差的定位精度评定办法[J].指挥控制与仿真,2013,35(1):111-114.ZHANG Le,LI Wu-zhou,JU Yang-feng,et al.Positioning Accuracy Evaluation Method Based on CEP [J].Command Control and Simulation,2013,35 (1):111-114.
[2] ULLEBERG P,RUNDMO T.Personality Attitudes and Risk Perception as Predictors of Risky Driving Behavior Among Young Drivers [J].Safety Science,2003,41 (5):427-443
[3] 金立生,程蕾,成波.基于毫米波雷达和机器视觉的夜间前方车辆检测[J].汽车安全与节能学报,2016,7(2):167-174.JIN Li-sheng,CHENG Lei,CHENG Bo.Leading Vehicle Detection at Night Based on Millimeter-wave Radar and Machine Vision [J].Automotive Safety and Energy,2016,7 (2):167-174.
[4] O’MALLEY R,GLAVIN M,JONES E.Vision-based Detection and Tracking of Vehicles to the Rear with Perspective Correction in Low-light Conditions [J].Intelligent Transport Systems,2011,5 (1):1-10.
[5] 王畅,付锐,郭应时,等.换道预警系统中越线时间的预测方法[J].汽车工程,2014,36(4):509-514.WANG Chang,FU Rui,GUO Ying-shi,et al.Prediction Method of Time-to-line-crossing in Lane Change Warning System [J].Automotive Engineering,2014,36 (4):509-514.
[6] 王建强,迟瑞娟,张磊,等.适应驾驶员特性的汽车追尾报警避撞算法研究[J].公路交通科技,2009,26(增1):7-12.WANG Jian-qiang,CHI Rui-juan,ZHANG Lei,et al.Study on Forward Collision Warning-avoidance Algorithm Based on Driver Characteristics Adaptation [J].Journal of Highway and Transportation Research and Development,2009,26 (S1):7-12.
[7] 裴晓飞,刘昭度,马国成,等.汽车主动避撞系统的安全距离模型和目标检测算法[J].汽车安全与节能学报,2012,3(1):26-33.PEI Xiao-fei,LIU Zhao-du,MA Guo-cheng,et al.Safe Distance Model and Obstacle Detection Algorithm for a Collision Warning and Collision Avoidance System [J].Journal of Automotive Safety and Energy,2012,3 (1):26-33.
[8] 王畅,付锐,张琼,等.换道预警系统中参数TTC特性研究[J].中国公路学报,2015,28(8):91-100.WANG Chang,FU Rui,ZHANG Qiong,et al.Research on Parameter TTC Characteristic of Lane Change Warning System [J].China Journal of Highway and Transport,2015,28 (8):91-100.
[9] 刘志强,张春雷,张爱红,等.基于驾驶行为的追尾避撞控制策略研究[J].汽车工程,2017,39(9):1068-1073.LIU Zhi-qiang,ZHANG Chun-lei,ZHANG Ai-hong,et al.A Study on the Control Strategy for Rear-end Collision Avoidance Based on Drivers’ Behavior [J].Automotive Engineering,2017,39 (9):1068-1073.
[10] 袁伟,蒋拯民,郭应时,等.制动与转向协调动作的车辆避撞控制研究[J].中国公路学报,2019,32(1):174-181.YUAN Wei,JIANG Zheng-min,GUO Ying-shi,et al.Research on Vehicle Active Collision Avoidance System Based on the Coordinated Actions of Braking and Steering [J].China Journal of Highway and Transport,2019,32 (1):174-181.
[11] 黄如林,梁华为,陈佳佳,等.基于激光雷达的无人驾驶汽车动态障碍物检测、跟踪与识别方法[J].机器人,2016,38(4):438-443.HANG Ru-lin,LIANG Hua-wei,CHEN Jia-jia,et al.Lidar Based Dynamic Obstacle Detection,Tracking and Recognition Method for Driverless Cars [J].Robot,2016,38 (4):438-443.
[12] 张建国,李红建,刘斌.基于 DGPS 和 GIS 的自动驾驶车辆精准定位系统构建[C]//中国交通年会学术委员会.第八届中国智能交通年会论文集.北京:电子工业出版社,2013:28-33.ZHANG Jian-guo,LI Hong-jian,LIU Bin.The Construction of Precise Positioning System Based on DGPS and GIS for Automatic Driving Vehicle [C] // China ITS Annual Conference Academic Board.The 8th China ITS Annual Conference.Beijing:Publishing House of Electronics Industry,2013:28-33.
[13] 马新露.应用于车辆碰撞协同预警系统的定位与测距技术[J].交通信息与安全,2011,29(1):128-131.MA Xin-lu.Localization and Ranging Technologies in Cooperative Collision Warning System [J].Journal of Transport Information and Safety,2011,29 (1):128-131.
[14] BAO R C,HSIU F T,CHUNG P Y.Intelligent Data Fusion System for Predicting Vehicle Collision Warning Using Vision/GPS Sensing [J].Expert Systems with Applications,2009,37 (3):2439-2450.
[15] RUI S,QI C,DABIN X,et al.GNSS/Electronic Compass/Road Segment Information Fusion for Vehicle-to-Vehicle Collision Avoidance Application [J].Sensor,2017,17:2724-2734.
[16] ANTHONY D,PATIRE M W,BORIS P,et al.How Much GPS Data Do We Need?[J].Transportation Research Part C,2015,58:325-342.
[17] 陆建,张文珺,杨海飞,等.基于碰撞时间的追尾风险分析 [J].交通信息与安全,2014,32(5):58-76.LU Jian,ZHANG Wen-jun,YANG Hai-fei,et al.Analysis of Rear-end Risk Based on the Indicator of Time to Collision [J].Journal of Transportation and Safety,2014,32 (5):58-76.
[18] 胡远志,吕章洁,刘西.基于PreScan的AEB系统纵向避撞算法及仿真验证[J].汽车安全与节能学报,2017,8(2):136-142.HU Yuan-zhi,LU Zhang-jie,LIU Xi.Algorithm and Simulation Verification of Longitudinal Collision Avoidance for Autonomous Emergency Break (AEB) system [J].Automotive Safety and Energy,2017,8 (2):136-142.
[19] 宋晓琳,熊琦玮,曹昊天.基于轨迹预测的车辆协同碰撞预警仿真研究[J].湖南大学学报:自然科学版,2016,43(10):1-7.SONG Xiao-lin,XIONG Qi-wei,CAO Hao-tian.Research and Simulation on Cooperative Collision Warning Based on Trajectory Prediction [J].Journal of Hunan University:Natural Sciences,2016,43 (10):1-7.
[20] 张乐,李武周,巨养锋,等.基于圆概率误差的定位精度评定办法[J].指挥控制与仿真,2013,35(1):111-114.ZHANG Le,LI Wu-zhou,JU Yang-feng,et al.Positioning Accuracy Evaluation Method Based on CEP [J].Command Control and Simulation,2013,35 (1):111-114.