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Outline
Aiming at the problem that the Automatic Emergency Braking (AEB) system in mixed traffic scenarios between vehicles and two-wheelers exhibits delayed response and difficulty in simultaneously ensuring safety and comfort when responding to vulnerable road users such as two-wheelers, this paper proposes a control strategy integrating trajectory prediction and an adaptive Time-to-Collision (TTC) threshold. By employing a self-attention mechanism and an encoder-decoder architecture, the trajectory of two-wheelers is predicted. Based on the prediction results, a control logic with two-level braking thresholds is designed: the first-level braking strategy adopts fuzzy control and threshold constraints to ensure occupant comfort, while the second-level braking is dynamically triggered according to collision risk. The model-in-the-loop simulation and hardware-in-the-loop validation results over the vehicle speed range of 30~85 km/h demonstrate that, compared with the conventional strategy, the proposed strategy achieves an average improvement of 24.52% in speed reduction; when the road adhesion coefficients are 0.5 and 0.35, the collision speeds of the proposed strategy are 26.75 km/h and 31.14 km/h, respectively, lower than the corresponding 40.60 km/h and 52.30 km/h obtained with the conventional strategy.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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