同济大学学报（自然科学版）2024，Vol.52Issue(4)：512-519,8.DOI:10.11908/j.issn.0253-374x.23401
基于安全风险预测的自动驾驶自适应巡航控制优化
Adaptive Cruise Control Optimization of Automatic Driving Based on Safety Risk Prediction
摘要
Abstract
This paper,extracting the scenario feature indexes and risk metrics index from vehicle kinematic status parameters and road infrastructure condition parameters,uses the extreme gradient boosting(XGboost)model and the long short-term memory(LSTM)model for safety risk prediction.Then,it proposes an adaptive cruise control(ACC)optimization method of automatic driving based on safety risk prediction.It selects collision probability,average speed,and standard deviation of speed to evaluate the performance of ACC optimization,and verifies the rationality and effectiveness of the ACC optimization method proposed using Prescan-Simulink co-simulation.The results show that the safety risk-based ACC optimization method is superior to the general ACC.Compared with the XGboost,the LSTM as safety risk prediction model,has a better performance for ACC optimization.The addition of road infrastructure condition parameters for safety risk prediction improves the ACC performance and reduces the collision probability of automatic driving significantly.关键词
交通运输/自动驾驶/安全风险预测/控制优化/仿真推演Key words
transportation/automatic driving/safety risk prediction/control optimization/simulation分类
交通工程引用本文复制引用
汪敏,涂辉招,薛东飞,李浩,李千山..基于安全风险预测的自动驾驶自适应巡航控制优化[J].同济大学学报（自然科学版）,2024,52(4):512-519,8.基金项目
国家自然科学基金(52372339) （52372339）
上海市科委重点项目(22dz1203400) （22dz1203400）
