中文摘要：

为提高车辆在交叉口的行车安全性,开发了一种基于车路一体化的交叉口车辆驾驶辅助系统。在系统分层模块化总体架构设计方法的基础上,通过无线射频识别、GPS及车速等多源信息融合技术对车辆精确定位,通过车路交互获取前方路口红绿灯相位及其预期变化,并结合车辆运动状态,提出一种反映驾驶人减速特性的速度阈值算法来实时判断行车危险度。系统在危险情况下报警,或基于减速度反馈控制的自适应制动控制方法对车辆自动制动。最后搭建驾驶辅助系统试验平台并进行了实车试验。结果表明：该系统能实时判断交叉口行车危险度,在危险情况下为驾驶人提供分级危险报警和制动辅助,以提高交叉口行车安全性。

英文摘要：

A vehicle driving assistance system based on vehicle-to-infrastructure（V2I） communication was developed for improving driving safety in intersections.Based on the system hierarchical and modularized structure design method,a novel vehicle positioning approach was presented based on radio frequency identification（RFID）,GPS and velocity information.Current traffic light phase and its timing could be collected by V2I technology.A velocity threshold algorithm reflecting driver＇s decelerating characteristics was proposed to assess dangerous level based on vehicle＇s movement state,vehicle position and traffic light phase.Under dangerous situation,the system would warn the driver or decelerate the vehicle automatically with an adaptive brake control method.An experimental platform for real vehicle was established,and multiple functions of the system were verified through field experiments.The results indicate that the proposed assistance system and control strategy can promptly assess the driving dangerous level and provide the driver with timely warning and brake assistance,which can significantly enhance driving safety in intersections.