CN106250637B - Automobile safety system parameter optimization method based on micro- Traffic Flow Simulation Models - Google Patents
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Abstract
The present invention discloses a kind of automobile safety system parameter optimization method based on micro- Traffic Flow Simulation Models, reasonably selects control system parameter suitable for vehicle factor to obtain optimal effect.It establishes the micro- traffic model being made of more vehicles, by changing the parameter of different control systems, passes through prolonged random simulation, find the parameter of setting and the relationship of occupant injury risk, majorized function is established, recycles modern optimization method to solve the function, obtains most control system parameter.Present invention only requires natural driving datas, do not need a large amount of casualty data, so that this method application is convenient.
Description
Technical field
The present invention relates to a kind of automobile safety system parameter optimization method based on micro- Traffic Flow Simulation Models, especially with regard to
A kind of security parameter optimization method of automobile emergency anti-collision system.
Background technique
With the development of electron controls technology, modern vehicle is increasingly intelligent.And it is vehicle intellectualized need one it is longer
Course, resulting in traffic in this way, there is the situations that intelligent vehicle and non intelligentization automobile mix traveling.In order to adapt to this
Complicated case, whole-car firm need to optimize automobile safety system, with obtain the smallest contingency occurrence probability or
Occupant injury risk probability.And due to the more difficult acquisition of casualty data, and limited amount, therefore in the past by accident reconstruction data
The optimization method emulated again can not be applicable in the quick application demand of intellectual technology.
With being constantly progressive for data acquisition means, the acquisition difficulty of natural driving data is constantly reduced, and this results in drive
The person of sailing drives the increasingly deep of mechanism study.Some scholars have applied existing driver to drive mechanism and have established micro- simulation model
Evaluate the security status of traffic environment.Driver can be driven mechanism and automobile safety system combines, to examine by Given this background
Examine influence of the different control parameter settings to the safe coefficient of traffic environment.
Summary of the invention
For above-mentioned analysis, the automobile safety system ginseng based on micro- Traffic Flow Simulation Models that the object of the present invention is to provide a kind of
Number optimization method.This method can optimize system leaved for development using existing pilot model, so as to be developed
System can obtain better effect (lower accident rate, good riding comfort).
To achieve the above object, the present invention takes following technical scheme:
A kind of automobile safety system parameter optimization method based on micro- Traffic Flow Simulation Models carries out as follows:
1) the micro- traffic model being made of more vehicles is established；
2) parameter for changing different control systems in same vehicle finds difference by prolonged accident random simulation
The relationship of occupant injury risk in the parameter to be optimized and accident of secondary setting；
3) majorized function for establishing the parameter to be optimized, the function is solved using modern optimization method, is obtained optimal
Control system parameter.
In 1), the method for micro- traffic model that foundation is made of more vehicles are as follows:
Number of vehicles is at least two cars, if first car is freely to drive, other vehicle status parameters with sailing vehicle
It is determined by the car-following model with faulty operation mechanism that University of Michigan proposes.
In 2), the relational approach of the parameter to be optimized and occupant injury risk set in control system is found are as follows:
A) assume that n-th vehicle is the vehicle of control to be optimized, then the car-following model of n-th vehicle in corresponding modification 1), n
> 1；
B) one group of parameter to be optimized is set for this vehicle, is emulated by long-time, record each time n-th vehicle with
The variable information A with occupant injury risk existence function relationship before and after accident, the change occur for (n-1)th or (n+1)th vehicle
It measures information and relating to parameters to be optimized joins；
C) it using the variable information A that accident occurs each time recorded, is fitted according to the data in incident database
The relationship for colliding occupant injury risk and the variable information each time out, is denoted as:
P (MAISX+)=f1(A)
P (MAISX+) " expression " risk probability that occupant injury is X grades or more；
D) it sums to the occupant injury risk of all secondary accidents, and divided by the vehicle driving to be optimized in simulation time
Total distance, obtained the damage risk about the unit operating range under the parameter to be optimized accordingly:
P in formulad-xy(MAIS X+) is X grades or more damage risk of unit operating range, and D is vehicle row in simulation time
The total distance sailed, x, y indicate parameter to be optimized, according to Pd-xyThe size of (MAIS X+) is known which parameter is desirable
's；
E) repeat b)-d) simulation calculation record P respectively for different Optimal Parameters to be optimizedd-xy(MAIS X
+) and corresponding parameter to be optimized；
F) relationship of all parameters to be optimized Yu unified occupant injury risk is established using data fitting method:
PAlways(MAIS X+)=f2(X,Y)
P in formulaAlways(MAIS X+) indicates the unified occupant injury risk for covering all parameters to be optimized, and X, Y indicate all
Parameter to be optimized, f2Characterize the functional relation between X grades or more the damage risk and parameter to be optimized of unit operating range.
In 3), the majorized function of the parameter to be optimized is established are as follows:
(x in above formula1,x2) represent the value interval of X, (y1,y2) value interval of Y is represented, specific section value is by designing
Person's setting.
The majorized function meaning is under that condition that the constraint conditions are met, to make minf2(X, Y) is minimum, that is, occupant injury risk
PAlwaysWhen (MAIS X+) reaches minimum, acquired control parameter is optimized parameter.
The modern optimization method utilized can be interior point method or steepest Decent Gradient Methods etc..
The invention adopts the above technical scheme, which has the following advantages: it establishes the micro- traffic being made of more vehicles
Model, by changing the parameter of each vehicle difference control system, by prolonged random simulation, find the parameter of setting with
The relationship of occupant injury risk, establishes majorized function, and the function is solved using modern optimization method, obtains optimal control system
Parameter.Since the driver operational data acquisition under driving naturally is convenient and sample size is big, so micro- Traffic Flow Simulation Models are built
Cube just and expansion is strong, is applicable in various forms of security systems modelings.The present invention and it is existing by accident reconstruction data into
The optimization method that row emulates again is compared, and not only application is convenient, but also has expansibility, the system that can be applied to non intelligent degree
Optimization.
Specific embodiment
Using the automobile safety system parameter optimization method of the invention based on micro- Traffic Flow Simulation Models, generally include following
Step:
1, the micro- traffic model being made of more vehicles is established；
2, the parameter for changing same vehicle difference control system, by prolonged random simulation, find the parameter of setting with
The relationship of occupant injury risk；
3, majorized function is established, the function is solved using modern optimization method, obtains optimal control system parameter.
In above step 1, the method for building up of micro- traffic model of more vehicles composition are as follows:
When establishing model, number of vehicles is determined without especially determining by the scene that designer considers.For example, designer
It is only concerned the vehicle not with front to collide, this model just only has two cars；If also keeping in mind does not allow rear car to hit, just design three
The model of vehicle.
1) first car (being defined as a vehicle) is set freely to drive；The state parameter for characterizing the vehicle includes acceleration a1(t)、
Speed v1(t), operating range X1It (t), is all the function of time t；
It is then as follows in the relationship of three parameters of k+1 moment:
v1(k+1)=v1(k)+Ts·a1(k)
K is sampling instant in above formula, and TsFor simulation step length, time quantum；a1(k+1) value distribution meets normal distribution,
Be mean value be a1(k), variance v1(k) function.
2) and other with sail the vehicle status parameters of vehicle by University of Michigan propose with faulty operation mechanism with
Vehicle model (H.Yang, H.Peng, T.J.Gordon, and D.Leblanc, " Development and Validation of
an Errorable Car-Following Driver Model,”2008American Control Conference,
Pp.3927-3932, Jun.2008.) it determines.University of Michigan is determining to this rear car car-following model.
In step 2, by changing the different control system parameters of same vehicle, long-time random simulation finds setting
The relationship of parameter and occupant injury risk.The type of the parameter of control system can be designed according to Vehicular system and be determined, as follows
In TTC threshold value, severity of braking be all emergency braking system two indispensable parameters, optimizable parameter.
1) assume that n-th vehicle is to be driven by driver and the vehicle of control to be optimized, then the in corresponding amendment step 1
The car-following model of n vehicle, n > 1.
Corresponding modification is exactly that the original of the vehicle is become control system to be studied (certain in change system with vehicle control
A little parameters) it controls.Such as study the control strategy of urgent anti-collision system, then controlled vehicle be then under non-emergent operating condition by
It drives to control follow the bus, emergency brake operations is switched to if reaching precarious position.
2) for the setting of one group of control parameter, it is to be emulated by long-time, records n-th vehicle and (n-1)th each time
Vehicle collide front and back, with the variable information of damage risk existence function relationship or n-th vehicle and (n+1)th vehicle hair
Raw collision front and back and damage risk existence function relationship variable information.
Such as, by taking emergency braking system as an example, key control parameter is TTC threshold value and severity of braking, is imitated by long-time
Very, the speed variable quantity and n-th vehicle of n-th vehicle before and after the collision moment of n-th vehicle and (n-1)th vehicle each time are recorded
With the speed variable quantity of n-th vehicle before and after the collision moment of (n+1)th vehicle；
3) using the variable information A to collide each time recorded, the Fitting Calculation collides occupant injury wind each time
The relationship of danger and the variable information, is denoted as:
P (MAISX+)=f1(A)
MAIS X+ is the damage that the damage deciding grade and level of occupant's maximum is X grades or more, P (MAISX+) in formula " expression " occupant injury
For X grades or more of risk probability, it is not one that this functional relation, which is to need to be obtained according to the data fitting in incident database,
The relationship of a fixation.
Such as: pressing upper example, using the speed variable quantity each time recorded, calculate collision occupant injury wind every time in conjunction with following formula
Danger；
P (MAIS2+)=f1(Δv)
" risk probability that occupant injury is 2 grades or more, Δ v are vehicle before and after vehicle collision to be optimized for P (MAIS2+) " expression
Fast variable quantity, f1The functional relation between occupant injury risk and speed variable quantity is characterized, and speed variable quantity being capable of correspondence mappings
The TTC threshold value and severity of braking of dynamic change out.
4) it sums to the damage risk of all collisions, and (is exactly this divided by the controlled vehicle in simulation time
Vehicle to be optimized) traveling total distance, obtained accordingly about the control parameter (such as TTC threshold value and severity of braking) set under
Unit operating range damage risk:
P in formulad-xy(MAIS X+) is X grades or more damage risk of unit operating range, and D is vehicle row in simulation time
The total distance sailed, x, y indicate two control parameters (what is indicated in such as embodiment is TTC threshold value and severity of braking) of optimization, are
The control parameter number of all amount of dynamic change each time, optimization may only one, it is also possible to there are two or it is multiple.
5) be directed to different optimal control parameters, carry out 2) -4 respectively) simulation calculation, record all Pd-xy
(MAIS X+)。
6) x, y and P are obtained using data fitting methodd-xyThe functional relation of (MAIS X+), i.e., the ginseng set in step 2
Several relationships with occupant injury risk.
Pd-xy(MAIS X+)=f2(x,y)
F in formula2Characterize the functional relation between X grades or more the damage risk and x, y of unit operating range.
In step 3, majorized function is first established, recycles modern optimization method to solve the function, obtains optimum control
Detailed process is as follows for system parameter:
1) it is as follows to establish majorized function:
(x in above formula1,x2) represent the value interval of x, (y1,y2) value interval of y is represented, specific section value is by designing
Person's setting.
The majorized function meaning is under that condition that the constraint conditions are met, to make minf2(x, y) is minimum, that is, damage risk Pd-xy
When (MAIS X+) reaches minimum, acquired control parameter (x, y) is optimized parameter.
Optimal Parameters in above-mentioned majorized function are not unique, can voluntarily be determined by vehicle factor and driver.Meanwhile this hair
To minimize damage risk as optimization aim, also only as an example, other purpose optimal methods can be used completely in bright.
2) function is solved using modern optimization method (such as interior point method, steepest Decent Gradient Methods), obtains optimum control
System parameter.
The various embodiments described above are merely to illustrate the present invention, and wherein the implementation steps etc. of method may be changed,
All equivalents and improvement carried out based on the technical solution of the present invention, should not exclude in protection scope of the present invention
Except.
Claims (3)
1. the automobile safety system parameter optimization method based on micro- Traffic Flow Simulation Models, which is characterized in that carry out as follows:
1) the micro- traffic model being made of more vehicles is established；
2) parameter for changing different control systems in same vehicle is found not homogeneous and is set by prolonged accident random simulation
The relationship of occupant injury risk in fixed parameter to be optimized and accident；
3) majorized function for establishing the parameter to be optimized, the function is solved using modern optimization method, obtains optimum control
System parameter；
In 2), the relational approach of occupant injury risk in parameter to be optimized and accident is found are as follows:
A) assume that n-th vehicle is the vehicle of control to be optimized, then the car-following model of n-th vehicle in corresponding modification 1), n > 1；
B) one group of parameter to be optimized is set for n-th vehicle, is emulated by long-time, records n-th vehicle and (n-1)th each time
Or (n+1)th vehicle the variable information A with occupant injury risk existence function relationship before and after accident, the variable information occurs
Join with relating to parameters to be optimized；
C) it using the variable information A that accident occurs each time recorded, is obtained according to the data fitting in incident database every
The relationship of primary collision occupant injury risk and the variable information, is denoted as:
P (MAISX+)=f1(A)
P (MAISX+) indicates that occupant injury is X grades or more of risk probability；
D) sum to the occupant injury risk of all secondary accidents, and divided by simulation time the vehicle driving to be optimized it is total
Distance obtains the damage risk about the unit operating range under the parameter to be optimized accordingly:
P in formulad-xy(MAIS X+) is X grades or more damage risk probability of unit operating range, and D is vehicle driving in simulation time
Total distance, x, y indicate parameter to be optimized, according to Pd-xyThe size of (MAIS X+) determines whether parameter can use；
E) repeat b)-d) simulation calculation record P respectively for different Optimal Parameters to be optimizedd-xyIt is (MAIS X+) and right
The parameter to be optimized answered；
F) relationship of all parameters to be optimized Yu unified occupant injury risk is established using data fitting method:
PAlways(MAIS X+)=f2(X,Y)
P in formulaAlways(MAIS X+) indicates the unified occupant injury risk for covering all parameters to be optimized, and X, Y expression need excellent
The parameter of change, f2Characterize the functional relation between X grades or more the damage risk and parameter to be optimized of unit operating range；
In 3), the majorized function of the parameter to be optimized is established are as follows:
(x in formula1,x2) represent the value interval of X, (y1,y2) value interval of Y is represented, specific section value is set by designer；
Under that condition that the constraint conditions are met, minf2(X, Y) is minimum, that is, occupant injury risk PAlwaysWhen (MAIS X+) reaches minimum, institute
The control parameter of acquirement is optimized parameter.
2. the automobile safety system parameter optimization method according to claim 1 based on micro- Traffic Flow Simulation Models, feature
It is,
In 1), the method for micro- traffic model that foundation is made of more vehicles are as follows:
Number of vehicles is at least two cars, if first car is freely to drive, other are with sailing the vehicle status parameters of vehicle by close
The car-following model with faulty operation mechanism that Xi Gen university proposes determines.
3. the automobile safety system parameter optimization method according to claim 1 based on micro- Traffic Flow Simulation Models, feature
It is, the modern optimization method utilized is interior point method or steepest Decent Gradient Methods.
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