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To address the limitation that the traditional Automatic Emergency Braking(AEB) strategy based on Time To Collision (TTC) does not take into account the speed of the vehicle, this paper proposed a dynamic collision time threshold model that took into account the vehicle speed and an AEB control strategy based on dynamic collision time threshold was designed. In order to ensure the comfort and safety of the braking process, a two-stage braking strategy was determined and the deceleration rate was designed, using PI control to complete the vehicle deceleration control. The TTC thresholds for different vehicle speeds were determined through simulation and a dynamic crash time threshold model was established. Hardware-In-the-Loop (HIL) simulation results show that the AEB strategy designed in this paper improves the collision avoidance success rate by 47.6% compared with the traditional AEB strategy under the premise of ensuring comfort, thus has better comprehensive performance.
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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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