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Design of an Adaptive Cruise Control and Collision Avoidance with Lane Keeping System support for Vehicle Assistance Driving (基於自適應巡航與車道維持的防碰撞自動駕駛輔助系統)
  • 發布年度:2017
  • 主要類別:駕駛輔助
  • 次要類別:論文
  • 在本文中提出一個整合的自動駕駛輔助系統,包括三個子系統:自動緊急煞車(AEB),自適應巡航控制(ACC)和車道維持輔助(LKA)系統整合到一個汽車先進駕駛輔助系統(ADAS)。LKA系統中相機用於檢測車輛前方的車道,並以車輛移動軌跡與行駛車道的右邊車道線之間的關係來控制車輛行駛在車道內。當碰撞時間(TTC)太短時,AEB系統會被啟動,並將雷達感測訊號與視覺分類結果進行比較以確認車輛前方的障礙物來防止與前車發生碰撞。ACC的目的是提供車輛具有穩定的跟隨能力以及安全性和乘坐舒適性。整合ADAS的性能由模擬軟體Prescan進行討論和驗證。模擬結果證明,所提出的ADAS具有優異的性能。

    Abstract
    In this paper, we propose an integrated automatic driving assistance system that includes three sub-systems: Autonomous Emergency Braking (AEB), Adaptive Cruise Control (ACC), and Lane Keeping Assistant (LKA) systems that are integrated into one advanced driver assistance system (ADAS). A camera is used to detect the lane marker in front of vehicle in the LKA system. The relationship between the vehicle moving trajectory and the right boundary of the driving lane is to maneuver the vehicle in the desired lane. The AEB system is activated when the time to collision (TTC) is too short to prevent the collision. The radar sensing message is compared to the visual classification results to confirm the obstacle in front of vehicle. . The aim of ACC is to provide steady car-following capability, safety, and ride comfort. The performance of the integrated ADAS is discussed and validated by the simulation software Prescan. The simulation results show that the proposed ADAS has excellent performance.

    KEYWORDS:
    Lane Keeping Assistant, Autonomous Emergency Braking System, Adaptive Cruise Control.