Remote braking control of bus based on repulsive potential field model

Abstract

Aiming at the safety problems caused by the driver’s inability to drive normally due to physical, psychological, or quarreling with others. In this paper, considering the safety limit of passenger braking, a hierarchical remote braking control strategy based on repulsive potential field model is proposed, which can effectively reduce the accident rate. Firstly, based on the vehicle-road-cloud architecture as a whole, the safety distance model and occupant safety model based on road adhesion coefficient were established. The joints of the human body model are simulated by solving the body shaking angular velocity threshold and head impact force. And the critical braking strength of passengers in different states inside the bus who will be injured is obtained. Secondly, the paper proposes a graded braking control strategy by introducing the repulsive potential field theory and combining it with the critical braking strength. A segmented proportional controller suitable for remote braking is designed to achieve low delay in executing braking commands and precise control of pneumatic braking force, ensuring the safety of passengers inside the bus without collision outside. Finally, the simulation analysis and hardware in-loop verification of the remote graded braking control strategy in this paper show that the braking intensity of runaway buses is less than 0.25g in the safe state and less than 0.4g in the low-risk state. In the emergency state, the cloud would extract the danger level of the driving scenario and the remote braking system would try to shorten the duration of high braking intensity. Ensuring that there is no collision outside the runaway buses and effectively ensuring the safety of passengers inside the runaway buses. The effectiveness of the remote graded braking strategy under different scenarios is verified.