In order to further improve the active safety protection of the vehicle’s active
collision avoidance system for vulnerable road users, consider the limitations
of on-board sensors, a pedestrian active collision avoidance control strategy
based on vehicle-to-vehicle (V2V) communication technology is proposed for the
blind-spot dangerous scenario where pedestrians pass through the front of a
stationary obstacle vehicle and collide with the host vehicle. Firstly, the
relative position relationship model between the host vehicle and the pedestrian
is established according to the pedestrian information detected by the obstacle
vehicle sensor and the global positioning system (GPS) position information of
the obstacle vehicle and the host vehicle so that the host vehicle can obtain
the state information of the pedestrian in front of the obstacle vehicle through
V2V communication. Secondly, four danger state judgment evaluation indicators of
Time To Enter (TTE), TTD, Time To Collision (TTC), and Time To Avoidance (TTA)
are established to realize the judgment of the longitudinal and lateral danger
state of the host vehicle. Finally, the upper-layer fuzzy controller is
established to control the expected deceleration of the vehicle, and the
lower-layer PID controller is established to realize the conversion of the
expected deceleration to the braking pressure. The effectiveness of the
V2V-based pedestrian active collision avoidance strategy is simulated and
verified in the blind-spot dangerous scenario by the joint simulation of
Prescan, Carsim, and Matlab. The simulation results showed that the proposed
control strategy can adjust the activation timing and deceleration of the active
collision avoidance system according to the different driving states of the
vehicle, and the V2V-based pedestrian active collision avoidance control system
can effectively avoid collisions with a pedestrian, which ensure the safety of
collision avoidance.
