Semi-Autonomous Driving Control of Multi-Trailer Articulated Heavy Vehicles for Increasing Highway Traffic Safety

多挂车铰接式重型车辆的半自动驾驶控制，提高公路交通安全

• 批准号: RGPIN-2019-05437
• 负责人: He, Yuping
• 金额: $ 2.33万
• 依托单位: University of Ontario Institute of Technology
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=744019
• 关键词: Semi; Autonomous; Driving; Control; Multi

To increase the safety of multi-trailer articulated heavy vehicles (MTAHVs), attention has been paid to exploring active vehicle safety systems (AVSSs), e.g. anti-lock braking systems. These AVSS technologies are classified as `reactive safety systems', designed to react to the current vehicle state. These systems are effective, but do not consider the effect of driver errors. The main cause of traffic accidents is linked to human errors. A resolution to the problem is autonomous driving, which removes human factors from the control loop. There will be a long transition period, during which most vehicles have some capabilities of autonomous driving. Since the late 1990s, lane departure warning and adaptive cruise control systems have been proposed. These technologies are classified as `predictive safety systems' (PSSs), considering not only the current vehicle state, but also the predicted vehicle state and environmental hazards. These systems assist the driver in identifying, assessing, and avoiding impending hazards. For passenger vehicles, several PSSs have been investigated. These PSSs are featured with semi-autonomous driving functions. MTAHVs represent a 7.5 times higher risk than passenger cars in highway operations. However, much less attention has been paid to exploring these PSSs for MTAHVs.     This research will develop a novel design methodology for semi-autonomous driving systems of MTAHVs. The interrelated innovative investigations will be conducted: 1)Modelling and simulation of human driver behaviors and MTAHV dynamics. To conduct numerical and real-time simulations, two versions of MTAHV and driver models are derived and validated. Moreover, a multi-lane one-direction highway and surrounding vehicles will be modelled. 2)Motion planning and predictive threat assessment. The motion trajectories of the MTAHV driven by the driver under typical highway operations are predicted using simulations. Critical safety measures of MTAHVs will be identified and evaluated. 3)An autonomous driving system with automated steering and braking capabilities. The automated steering and braking system for MTAHVs is designed using a well-suited control technique. 4)Exploring the interactions of driver-automation-environment. A semi-autonomous driving system for MTAHVs is designed with the shared driving control between the driver and the proposed automated driving system. Various intervention laws for the automated system will be explored. 5)Developing a design synthesis framework. A simulation-based bi-level design synthesis framework is proposed and tested for designing MTAHVs with the semi-autonomous driving.     The research will not only contribute to increasing the safety of MTAHVs, but also advancing the understanding and science of the interactions of driver-controller-vehicle and autonomous driving.

为了提高多挂车铰接式重型车辆 (MTAHV) 的安全性，人们开始关注主动车辆安全系统 (AVSS)，例如，这些 AVSS 技术被归类为“反应式安全系统”。这些系统对当前车辆状态做出反应是有效的，但没有考虑驾驶员错误的影响。解决该问题的方法是自动驾驶，它消除了控制中的人为因素。将会有一个很长的过渡期，在此期间大多数车辆都具有自动驾驶的能力，自 20 世纪 90 年代末以来，出发车道警告和自适应巡航控制系统已被归类为“预测安全系统”（PSS）。 ），不仅考虑当前的车辆状态，还考虑预测的车辆状态和环境危险。对于乘用车，这些系统已对多种 PSS 进行了研究。在高速公路运营中，MTAHV 的风险比乘用车高 7.5 倍。然而，对于探索 MTAHV 的 PSS 的关注却少得多。​这项研究将为半自动驾驶系统开发一种新颖的设计方法。将进行相关的创新研究： 1）人类驾驶员行为和 MTAHV 动力学的建模和仿真 进行数值和实时仿真，两个版本。推导并验证了 MTAHV 和驾驶员模型。此外，还将对多车道单向高速公路和周围车辆进行建模。 2）典型高速公路操作下驾驶员驾驶的 MTAHV 的运动轨迹。 3) 具有自动转向和制动功能的 MTAHV 的自动转向和制动系统采用合适的控制进行设计。 4）探索驾驶员-自动化-环境的交互。设计了一个MTAHV 的半自动驾驶系统，其中驾驶员和自动驾驶系统之间的共享驾驶控制将被探索。 5）开发设计综合框架。提出并测试了基于仿真的双层设计综合框架，用于设计半自动驾驶的MTAHV。​该研究不仅有助于提高安全性。 MTAHV，同时也促进了对驾驶员-控制器-车辆和自动驾驶之间相互作用的理解和科学化。