Simulation and Verification of the Control Strategies for Pedestrian Active Collision Avoidance System Based on Internet of Vehicles

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.