Article(id=1204385694081851532, tenantId=1146029695717560320, journalId=1189621681917173762, issueId=1204385692009870183, articleNumber=null, orderNo=null, doi=10.19620/j.cnki.1000-3703.20220519, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=research-article, receivedDate=null, receivedDateStr=null, revisedDate=1657209600000, revisedDateStr=2022-07-08, acceptedDate=null, acceptedDateStr=null, onlineDate=1765077525872, onlineDateStr=2025-12-07, pubDate=1684857600000, pubDateStr=2023-05-24, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1765077525872, onlineIssueDateStr=2025-12-07, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1765077525872, creator=13701087609, updateTime=1765077525872, updator=13701087609, issue=Issue{id=1204385692009870183, tenantId=1146029695717560320, journalId=1189621681917173762, year='2023', volume='', issue='5', pageStart='1', pageEnd='62', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1765077525378, creator=13701087609, updateTime=1765079144073, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1204392481388470847, tenantId=1146029695717560320, journalId=1189621681917173762, issueId=1204385692009870183, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1204392481388470848, tenantId=1146029695717560320, journalId=1189621681917173762, issueId=1204385692009870183, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=45, endPage=50, ext={EN=ArticleExt(id=1204385694299955346, articleId=1204385694081851532, tenantId=1146029695717560320, journalId=1189621681917173762, language=EN, title=Research on Test Scenarios and Test Design of Automatic Emergency Steering System, columnId=null, journalTitle=Automobile Technology, columnName=null, runingTitle=null, highlight=null, articleAbstract=
In order to solve the shortcomings of current longitudinal collision avoidance technologies in specific scenarios such as high relative speed, poor road adhesion conditions and low overlap rate with obstacles, this paper studied the typical test scenarios and road tests of vehicle with less longitudinal distance and higher collision avoidance efficiency. Through analysis of the largest dada dataset for driving attention prediction in China, and in combination with the requirements of the EU ECE-R79 automatic steering standards, the typical test scenarios of Automatic Emergency Steering (AES) were obtained. At the same time, the road tests were designed, and a test software & hardware design scheme was proposed, which can monitor the emergency steering tests of different vehicle speeds under typical test scenarios, thereby realizing the effective test evaluation of the AES system.
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针对目前纵向避障技术在相对速度较高、路面附着条件差、与障碍物重叠率低等特定场景下制动距离过长的缺点，对纵向距离更小，避碰效能更高的车辆横向避碰典型测试场景及道路试验展开研究。通过分析梳理我国最大规模事故场景驾驶注意预测（DADA）数据集，并结合欧盟ECE-R79自动转向标准要求，得到自动紧急转向（AES）系统的典型测试场景，同时对道路试验进行设计，提出软硬件测试设计方案，可实现对典型测试场景下不同车速条件下的紧急转向试验监控，从而对AES系统进行有效测试评估。
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2017., articleTitle=Estimation of Potential Safety Benefits for Pedestrian Crash Avoidance/Mitigation Systems: DOT HS 812 400, refAbstract=null)], funds=null, companyList=[AuthorCompany(id=1204452606232998051, tenantId=1146029695717560320, journalId=1189621681917173762, articleId=1204385694081851532, xref=null, ext=[AuthorCompanyExt(id=1204452606241386661, tenantId=1146029695717560320, journalId=1189621681917173762, articleId=1204385694081851532, companyId=1204452606232998051, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=CATARC Automotive Inspection Center (Wuhan) Co., Ltd., Wuhan 430056), AuthorCompanyExt(id=1204452606245580966, tenantId=1146029695717560320, journalId=1189621681917173762, articleId=1204385694081851532, companyId=1204452606232998051, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=中汽研汽车检验中心（武汉）有限公司，武汉 430056)])], figs=[ArticleFig(id=1204452608883798367, tenantId=1146029695717560320, journalId=1189621681917173762, articleId=1204385694081851532, language=EN, label=null, caption=null, figureFileSmall=UuwSqyNBeEaF4SC5UyR9Sg==, figureFileBig=T6HwxbqfOcA8lRL1DYal/A==, tableContent=null), ArticleFig(id=1204452608997044584, tenantId=1146029695717560320, journalId=1189621681917173762, articleId=1204385694081851532, language=CN, label=图1, caption=
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| 场景 | 测试步骤 | 测试场景示意 | 测试通过条件 |
| 1.前方障碍物 | 主车快速接近位于其轨迹内的障碍物，直到触发AES系统为止 |  | 报警不能晚于AES功能介入前发出，同时AES激活转向，避免或减轻碰撞 |
| 2.相邻车道侧向切入 | 相邻车道行驶的目标车不断接近主车，接近过程中不断减小两车的横向距离，直到触发主车AES系统为止 |  | 报警不能晚于AES功能介入前发出，同时AES的作用不会导致主车驶离车道 |
| 3.障碍物横向切入 | 主车沿车道线行驶，横向障碍物以一定速度切入，触发主车AES系统 |  | 报警不能晚于AES功能介入前发出，同时AES激活转向，避免或减轻碰撞 |
| 4.换道过程侧方车道车辆快速逼近 | 主车开始进行换道，同时侧方车道内有目标车从侧后方快速接近，若AES系统不介入，两车会发生碰撞 |  | 报警不能晚于AES功能介入前发出，同时AES的作用不会导致主车驶离车道 |
| 5.转向遭遇 | 车辆在路口转向，目标车沿直线行驶或转向行驶，触发主车AES系统 |  | 报警不能晚于AES功能介入前发出，同时AES激活转向，避免或减轻碰撞 |
), ArticleFig(id=1204452611043865102, tenantId=1146029695717560320, journalId=1189621681917173762, articleId=1204385694081851532, language=CN, label=表1, caption=
AES典型场景测试步骤及通过条件
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| 场景 | 测试步骤 | 测试场景示意 | 测试通过条件 |
| 1.前方障碍物 | 主车快速接近位于其轨迹内的障碍物，直到触发AES系统为止 | | 报警不能晚于AES功能介入前发出，同时AES激活转向，避免或减轻碰撞 |
| 2.相邻车道侧向切入 | 相邻车道行驶的目标车不断接近主车，接近过程中不断减小两车的横向距离，直到触发主车AES系统为止 | | 报警不能晚于AES功能介入前发出，同时AES的作用不会导致主车驶离车道 |
| 3.障碍物横向切入 | 主车沿车道线行驶，横向障碍物以一定速度切入，触发主车AES系统 | | 报警不能晚于AES功能介入前发出，同时AES激活转向，避免或减轻碰撞 |
| 4.换道过程侧方车道车辆快速逼近 | 主车开始进行换道，同时侧方车道内有目标车从侧后方快速接近，若AES系统不介入，两车会发生碰撞 | | 报警不能晚于AES功能介入前发出，同时AES的作用不会导致主车驶离车道 |
| 5.转向遭遇 | 车辆在路口转向，目标车沿直线行驶或转向行驶，触发主车AES系统 | | 报警不能晚于AES功能介入前发出，同时AES激活转向，避免或减轻碰撞 |
), ArticleFig(id=1204452611148722715, tenantId=1146029695717560320, journalId=1189621681917173762, articleId=1204385694081851532, language=EN, label=null, caption=null, figureFileSmall=null, figureFileBig=null, tableContent=
| 相关评价 | 测试场景 | 评分参数 |
日产汽车
公司[12] | 前方移动障碍物
右侧突然出现障碍物
对向车道驶入移动障碍物 | 与参考路径的误差AES系统的计算时间 |
| Kovaceva等[13] | 车辆在交叉路口右转
左转或直行
从左、右两侧驶来的缓慢障碍物 | 避免发生碰撞，若发生碰撞，碰撞减速量 |
| Liu等[14] | 前方移动障碍物 | 与参考路径的误差 |
Yanagisawa
等[15] | 右侧突然出现行人障碍物
对向车道驶入移动障碍物 | 碰撞发生概率
行人受伤害程度 |
), ArticleFig(id=1204452611278746156, tenantId=1146029695717560320, journalId=1189621681917173762, articleId=1204385694081851532, language=CN, label=表2, caption=
AES功能评价指标分析
, figureFileSmall=null, figureFileBig=null, tableContent=
| 相关评价 | 测试场景 | 评分参数 |
日产汽车
公司[12] | 前方移动障碍物
右侧突然出现障碍物
对向车道驶入移动障碍物 | 与参考路径的误差AES系统的计算时间 |
| Kovaceva等[13] | 车辆在交叉路口右转
左转或直行
从左、右两侧驶来的缓慢障碍物 | 避免发生碰撞，若发生碰撞，碰撞减速量 |
| Liu等[14] | 前方移动障碍物 | 与参考路径的误差 |
Yanagisawa
等[15] | 右侧突然出现行人障碍物
对向车道驶入移动障碍物 | 碰撞发生概率
行人受伤害程度 |
), ArticleFig(id=1204452611371020858, tenantId=1146029695717560320, journalId=1189621681917173762, articleId=1204385694081851532, language=EN, label=null, caption=null, figureFileSmall=null, figureFileBig=null, tableContent=
车速
/km·h-1 | TTC/s | 相对距离
/m | 碰撞点
车速/km·h-1 | 最大减
速度/m·s-2 |
| 40 | 0.50 | 5.56 | 4.72 | 5.81 |
| 60 | 0.49 | 8.17 | 41.87 | 7.35 |
| 80 | 0.49 | 10.89 | 49.42 | 7.81 |
), ArticleFig(id=1204452611459101257, tenantId=1146029695717560320, journalId=1189621681917173762, articleId=1204385694081851532, language=CN, label=表3, caption=
不同车速下试验结果
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车速
/km·h-1 | TTC/s | 相对距离
/m | 碰撞点
车速/km·h-1 | 最大减
速度/m·s-2 |
| 40 | 0.50 | 5.56 | 4.72 | 5.81 |
| 60 | 0.49 | 8.17 | 41.87 | 7.35 |
| 80 | 0.49 | 10.89 | 49.42 | 7.81 |
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