基於車輛參數及狀態之自動緊急煞車系統設計

Design of an Automatic Emergency Braking System Based on Vehicle Parameters and States

李昱錞(Yu-Chun Li)

指導教授 ： 蘇偉?

國立臺灣大學/工學院/機械工程學系/碩士(2024年)

https://doi.org/10.6342/NTU202402188

摘要

自動緊急煞車系統(Autonomous Emergency Braking System, AEBS)提升車輛主動安全性，但其效用受到實際行駛情況的影響，其中包含車輛負載與路面情況。為滿足安全法規以確保駕駛安全性，本研究開發應用於不同路況以及車輛負載之自動緊急煞車系統控制策略。首先，根據車輛感測器取得輪速與車身加速度訊號，估測縱向速度、輪胎縱向力與正向力、整車質量等控制策略所需之參數。其次，為因應車輛行駛的路況，將根據估測之參數推算出路面即時摩擦係數，並建立路況判斷標準。隨後，配合估測之參數及狀態得到煞車距離以此作為AEBS煞車基準，並以滑動模式控制器(Sliding Mode Control)控制輪胎於最佳滑差。本研究在Matlab/Simulink環境下建立其控制系統，搭配CarSim模擬軟體進行UN Regulations No. 152所制定的測試規範；模擬結果顯示，提出之開發策略與對照組之策略相比，能有效避免碰撞並符合規範要求，並且於低摩擦係數路面也符合法規之要求。

關鍵字

自動緊急煞車系統 ； 滑動模式控制 ； 道路摩擦係數 ； 碰撞時間 ； 碰撞距離 ； 質量估測 ； 縱向動力學

並列摘要

The Autonomous Emergency Braking System (AEBS) enhances vehicle active safety, but its effectiveness is influenced by real-world driving conditions, including vehicle load and road conditions. To meet safety regulations and ensure driver safety, this study develops a control strategy for AEBS applicable to various road conditions and vehicle loads. First, vehicle sensors are used to obtain wheel speed and vehicle body acceleration signals to estimate the parameters required for the control strategy, such as longitudinal speed, tire longitudinal force and normal force, and overall vehicle mass. Next, to adapt to road conditions while driving, the real-time road surface friction coefficient is calculated based on the estimated parameters, and a road condition assessment standard is established. Subsequently, using the estimated parameters and states, the braking distance is obtained as the AEBS braking reference, and a Sliding Mode Controller (SMC) is used to control the tires at optimal slip. Finally, the control system is built in the Matlab/Simulink environment and tested with the CarSim simulation software according to the test specifications set out in UN Regulations No. 152. Simulation results show that the proposed development strategy can effectively prevent collisions and meet regulatory requirements compared to the control group strategy, and it also meets the requirements on low-friction road surfaces.

並列關鍵字

Autonomous Emergency Braking System ； Sliding Mode Control ； Road Friction Coefficient ； Time to Collision ； Collision Distance ； Mass Estimation ； Longitudinal Dynamics

參考文獻

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Mitsubishi. "Car History." https://www.mitsubishi-motors.com/en/company/history/car/ (accessed Dec 19, 2023).

UN Regulations No. 131, UNITED NATIONS, 2013. [Online]. Available: https://unece.org/transport/vehicle-regulations-wp29/standards/addenda-1958-agreement-regulations-121-140

AEB Car-to-Car Test Protocol v4.3, EUROPEAN NEW CAR ASSESSMENT PROGRAMME, 2023. [Online]. Available: https://www.euroncap.com/media/79864/euro-ncap-aeb-c2c-test-protocol-v43.pdf

UN Regulations No. 152, UNITED NATIONS, 2020. [Online]. Available: https://unece.org/transport/vehicle-regulations-wp29/standards/addenda-1958-agreement-regulations-141-160