Advanced driver-assistance systems(ADASs),such as forward collision warning(FCW),are widely used and,in some countries,have been made mandatory for commercial vehicles.In practical applications,however,FCW systems pro...Advanced driver-assistance systems(ADASs),such as forward collision warning(FCW),are widely used and,in some countries,have been made mandatory for commercial vehicles.In practical applications,however,FCW systems produce many false alarms.Using scenario and driving behavior data collected from naturalistic driving study data of trucks,a variable threshold evaluation method was proposed to determine the factors correlating with false alarms.A total of 450 collision avoidance events were divided based on driving character-istics into three groups with k-means clustering.Responsibility-sensitive safety(RSS)mod-el’s parameters were calibrated with the driving behavior characteristics and scenarios to evaluate the truck FCW system’s alarm accuracy.The evaluation of the results of truck FCW system based on RSS model found 47 false alarm alarms in the 450 events,a false alarm rate of 11.19%.When the following distance was close(<7 m)or far(>20 m),the false alarm rate reached more than 30%.The minimum time to collision(TTC)in the close distance driving clusters(DCs)(5.81 s)was lower than that in long distance DCs(7.68 s and 9.46 s).Braking force in the low-speed DCs(deceleration at0.16 g and0.55 g)was lower than in high-speeded DC(deceleration=1.21 g).The FCW system does not conform to the driver’s reaction time and braking characteristics in different scenarios,and is the main reason for false alarms.This is more obviously reflected in low-speed short distance and high-speed long-distance scenarios.展开更多
We analyzed and improved a collision avoidance strategy, which was supported by Long Term EvolutionVehicle(LTE-V)-based Vehicle-to-Vehicle(V2 V) communication, for automated vehicles. This work was completed in two st...We analyzed and improved a collision avoidance strategy, which was supported by Long Term EvolutionVehicle(LTE-V)-based Vehicle-to-Vehicle(V2 V) communication, for automated vehicles. This work was completed in two steps. In the first step, we analyzed the probability distribution of message transmission time, which was conditional on transmission distance and vehicle density. Our analysis revealed that transmission time exhibited a near-linear increase with distance and density. We also quantified the trade-off between high/low resource reselection probabilities to improve the setting of media access parameters. In the second step, we studied the required safety distance in accordance with the response time, i.e., the transmission time, derived on the basis of a novel concept of Responsibility-Sensitive Safety(RSS). We improved the strategy by considering the uncertainty of response time and its dependence on vehicle distance and density. We performed theoretical analysis and numerical testing to illustrate the effectiveness of the improved robust RSS strategy. Our results enhance the practicability of building driverless highways with special lanes reserved for the exclusive use of LTE-V vehicles.展开更多
基金sponsored by the National Key R&D Program of China(2018YFB0105202).
文摘Advanced driver-assistance systems(ADASs),such as forward collision warning(FCW),are widely used and,in some countries,have been made mandatory for commercial vehicles.In practical applications,however,FCW systems produce many false alarms.Using scenario and driving behavior data collected from naturalistic driving study data of trucks,a variable threshold evaluation method was proposed to determine the factors correlating with false alarms.A total of 450 collision avoidance events were divided based on driving character-istics into three groups with k-means clustering.Responsibility-sensitive safety(RSS)mod-el’s parameters were calibrated with the driving behavior characteristics and scenarios to evaluate the truck FCW system’s alarm accuracy.The evaluation of the results of truck FCW system based on RSS model found 47 false alarm alarms in the 450 events,a false alarm rate of 11.19%.When the following distance was close(<7 m)or far(>20 m),the false alarm rate reached more than 30%.The minimum time to collision(TTC)in the close distance driving clusters(DCs)(5.81 s)was lower than that in long distance DCs(7.68 s and 9.46 s).Braking force in the low-speed DCs(deceleration at0.16 g and0.55 g)was lower than in high-speeded DC(deceleration=1.21 g).The FCW system does not conform to the driver’s reaction time and braking characteristics in different scenarios,and is the main reason for false alarms.This is more obviously reflected in low-speed short distance and high-speed long-distance scenarios.
基金supported in part by the National Natural Science Foundation of China (No. 61673233)Beijing Municipal Science and Technology Program (No. D171100004917001/2)the Key Technologies Research and Development Program of the Thirteenth Five-Year Plan of China (No. 2018YFB1600600)
文摘We analyzed and improved a collision avoidance strategy, which was supported by Long Term EvolutionVehicle(LTE-V)-based Vehicle-to-Vehicle(V2 V) communication, for automated vehicles. This work was completed in two steps. In the first step, we analyzed the probability distribution of message transmission time, which was conditional on transmission distance and vehicle density. Our analysis revealed that transmission time exhibited a near-linear increase with distance and density. We also quantified the trade-off between high/low resource reselection probabilities to improve the setting of media access parameters. In the second step, we studied the required safety distance in accordance with the response time, i.e., the transmission time, derived on the basis of a novel concept of Responsibility-Sensitive Safety(RSS). We improved the strategy by considering the uncertainty of response time and its dependence on vehicle distance and density. We performed theoretical analysis and numerical testing to illustrate the effectiveness of the improved robust RSS strategy. Our results enhance the practicability of building driverless highways with special lanes reserved for the exclusive use of LTE-V vehicles.
