湖北汽车工业学院学报JournalofHubeiUniversityofAutomotiveTechnology第37卷第1期2023年3月Vol.37No.1Mar.2023doi：10.3969/j.issn.1008-5483.2023.01.005车联网环境下车辆主动避撞决策方法操翰文，马英魁，张宇，陈宇峰（湖北汽车工业学院电气与信息工程学院，湖北十堰442002）摘要：结合驾驶员避撞行为特征和车联网信息获取优势，设计了车辆主动避撞决策。通过分析车辆制动过程得到临界制动距离，利用自车不同制动强度建立车辆纵向分级制动模型。在制动过程中加入不满累积度作为产生车辆换道意图的依据。基于Python和SUMO搭建了联合仿真平台，进行仿真验证。结果表明：在高速行驶环境中，与ITTC制动模型相比，文中方法能减少车辆制动跟随时间和换道次数，做出合理换道判断。关键词：车联网；避撞决策；最小安全距离模型；不满累积度；SUMO中图分类号：U495；U463.6文献标识码：A文章编号：1008-5483（2023）01-0024-05VehicleActiveCollisionAvoidanceDecisionMethodinInternetofVehiclesEnvironmentCaoHanwen,MaYingkui,ZhangYu,ChenYufeng（SchoolofElectrical&InformationEngineering,HubeiUniversityofAutomotiveTechnology,Shiyan442002,China）Abstract：Combinedwiththecharacteristicsofthedriver’scollisionavoidancebehaviorandthead⁃vantagesofinformationacquisitionfromInternetofvehicles,adecision-makingmethodofvehicleac⁃tivecollisionavoidancewasdesigned.Thecriticalbrakingdistancewasobtainedbyanalyzingthebrak⁃ingprocessofthevehicle.Andthelongitudinalhierarchicalbrakingmodelofthevehiclewasestab⁃lishedbyusingdifferentbrakingstrengthsofthevehicle.Theaccumulationofdissatisfactionwasaddedasthebasisforthevehicle’slane-changingintentionintheprocessofbraking.BasedonPythonandSUMO,ajointsimulationplatformwasbuiltforsimulation.Theresultsshowthat,inthehigh-speeddrivingenvironment,comparedwiththeITTCbrakingmodel,theproposedmethodcanreducethevehi⁃clebrakingfollow-uptimeandlanechangetimes,andmakereasonablelanechangejudgments.Keywords：Internetofvehicles;collisionavoidancedecision;minimumsafedistancemodel;dissatisfac⁃tionaccumulation;SUMO收稿日期：2022-05-24；修回日期：2022-11-16基金项目：湖北省中央引导地方科技发展专项（2018ZYYD007）；教育部中国高校产学...
