基于自然驾驶数据的电动公交踏板误操作辨识方法

doi:10.13229/j.cnki.jdxbgxb.20220173

Abstract

Abstract:

Aiming at the problem of electric bus out of control caused by driver's wrong stepping on the pedal， natural driving test and simulated driving test of wrong stepping on the pedal were carried out. The pedal misoperation identification methods were established based on One-Class SVM and iForest respectively. The verification results show that the four parameters could be used to reflect pedal misoperation behavior， vehicle speed， motor torque， accelerator pedal opening and brake pedal opening. The recognition accuracy of one class SVM and iForest identification methods are 94.9% and 99.5% respectively， but iForest identification method has outstanding advantages in the recognition accuracy of pedal misoperation. The iForest method can be used to identify the running data of electric bus， which can provide theoretical support for reducing the accidents related to abnormal braking.

Key words: highway transportation, pedal misoperation behavior, natural driving, pure electric bus, machine learning

CLC Number:

U471.3

Wei YUAN,Xiao-hui YUAN,Yan GAO,Kun-chen LI,Deng-feng ZHAO,Zhao-hui LIU. Identification method for electric bus pedal misoperation based on natural driving data[J].Journal of Jilin University(Engineering and Technology Edition), 2023, 53(12): 3342-3350.

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参数	数值
外形尺寸（长×宽×高）/（mm×mm×mm）	12 000×2550×3290
最大允许总质量/kg	18 000
驱动电机额定功率/kW	120
驱动电机峰值功率/kW	240
动力电池额定电压/V	579.6
动力电池额定容量/（A·h）	604
最高时速/（km·h^-1）	69

序号	项目	类型
1	低压总开关	点火系统
2	点火开关接通档	点火系统
3	点火开关启动档	点火系统
4	挡位信号	挡位系统
5	加速踏板开度/%	踏板
6	制动踏板开度/%	踏板
7	车速/（km·h^-1）	车速
8	纵向/横向速度/（km·h^-1）	GPS
9	纵向加速度/（m·s^-2）	GPS
10	手刹信号	制动系统
11	制动灯信号	制动系统
12	前/后气压制动压力/kPa	制动系统
13	左/右转向灯	转向系统
14	横摆加速度/（m·s^-2）	转向系统
15	横向加速度/（m·s^-2）	转向系统
16	转向盘转角/（°）	转向系统
17	转向盘转向角速度/（rad·s^-1）	转向系统
18	纵向距离/m	雷达系统
19	行人数量	雷达系统
20	左/右车道单目距离/m	雷达系统
21	电池电流/A	电池组
22	电池电压/V	电池组
23	电池荷电状态/%	电池组
24	电机转速/（r·s^-1）	电机组
25	电机转矩/（N·m）	电机组

模拟试验	驾驶操作行为	试验要求	试验车速（km·h^-1）
正常制动	松开加速踏板后踩下制动踏板	驾驶人突然松开加速踏板，并进行紧急制动，车辆刹停后结束试验	10/20/30/40
踏板误操作情形1	松开加速踏板后再踩下加速踏板	驾驶人先迅速松开加速踏板，再以紧急制动的力度和速度迅速踩下加速踏板，待车速超过试验车速10 km/h左右时，松开加速踏板，踩制动踏板停车，结束试验	10/20/30
踏板误操作情形2	直接踩下加速踏板	驾驶人直接以紧急制动的力度和速度迅速踩下加速踏板，待车速超过试验车速10 km/h左右时，松开加速踏板，踩制动踏板停车，结束试验	10/20/30
踏板误操作情形3	右脚同时踩加速踏板和制动踏板	驾驶人将右脚横摆后，大力踩下加速踏板和制动踏板，维持5 s左右后松开右脚，踩制动踏板停车，结束试验	10/20/30
踏板误操作情形4	右脚踩加速踏板，左脚踩制动踏板	驾驶人右脚将加速踏板迅速踩到底，同时左脚大力踩制动踏板，维持5 s左右后松开双脚，踩制动踏板停车，结束试验	10/20/30

制动行为类型		预测		召回率/%
制动行为类型		正常制动	踏板误操作	召回率/%
真实	正常制动	10 473	541	95.1
真实	踏板误操作	40	410	91.1
精确率/%		99.6	43.1

制动行为类型		预测		召回率/%
制动行为类型		正常制动	踏板误操作	召回率/%
真实	正常制动	10 985	29	99.7
真实	踏板误操作	32	418	92.9
精确率/%		99.7	93.5

Identification method for electric bus pedal misoperation based on natural driving data

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