摘要
以提升智能汽车自动驾驶系统安全性为目的,提出智能汽车自动驾驶系统安全性研究与优化方法。该方法首先构建智能汽车自动驾驶系统安全性评价指标体系,涵盖行驶安全性和通过高效性两个一级指标及其下属多项二级指标,利用CRITIC权重法客观赋权,并结合灰色关联理论进行安全性评价;然后基于运动学约束条件构建智能汽车运动学模型,建立与障碍物、车辆间的空间协同代价模型以及轨迹平滑代价模型,进而构建自动驾驶系统协同控制优化数学模型并求解,实现系统轨迹平滑驾驶优化,提升智能汽车自动驾驶系统安全性。实验表明,该方法能有效剖析自动驾驶中的安全要点,显著降低智能汽车自动驾驶安全性综合代价,提升自动驾驶系统安全性,能为智能汽车行驶安全提供有力保障。
Aiming at improving the safety of the autonomous driving system of intelligent vehicles,this paper proposes a research and optimization method for the safety of the autonomous driving system of intelligent vehicles.This method first constructs a safety evaluation index system for the autonomous driving system of intelligent vehicles,covering two first-level indicators of driving safety and passing efficiency and multiple second-level indicators under them.The CRITIC weighting method is used for objective weighting,and the safety evaluation is conducted in combination with the grey relational theory.Then,based on the kinematic constraints,a kinematic model of intelligent vehicles is established,and the spatial coordination cost model between obstacles and vehicles and the trajectory smoothness cost model are established.Subsequently,a mathematical model for the collaborative control optimization of the autonomous driving system is constructed and solved to achieve the optimization of smooth driving trajectories and improve the safety of the autonomous driving system of intelligent vehicles.Experiments show that this method can effectively analyze the key points of safety in autonomous driving,significantly reduce the comprehensive safety cost of autonomous driving of intelligent vehicles,improve the safety of the autonomous driving system,and provide a strong guarantee for the driving safety of intelligent vehicles.
作者
徐惠
Xu Hui(Transportation Bureau of Pingyi County Linyi City,Shandong Province,Linyi 273300,China)
出处
《专用汽车》
2025年第6期27-30,共4页
Special Purpose Vehicle
关键词
智能汽车
自动驾驶系统
安全性
优化
指标体系
Intelligent vehicles
Autonomous driving system
Safety
Optimization
Index system
