[1]HUANG Wei,TIAN Yantao,FAN Zehua,et al.Estimation of the safety coefficient of autonomous vehicles and collision avoidance planning at the T-shape intersection[J].CAAI Transactions on Intelligent Systems,2013,8(5):408-414.[doi:10.3969/j.issn.1673-4785.201301021]
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Estimation of the safety coefficient of autonomous vehicles and collision avoidance planning at the T-shape intersection

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 8 Number of periods: 2013 5 Page number: 408-414 Column: 学术论文—智能系统 Public date: 2013-10-25
Title:
Estimation of the safety coefficient of autonomous vehicles and collision avoidance planning at the T-shape intersection
Author(s):
HUANG Wei 1;  TIAN Yantao 1; 2;  FAN Zehua 1;  WANG Lei 1
1. College of Communication Engineering， Jilin University， Changchun 130025， China; 2. Key Laboratory of Bionics Engineering， Ministry of Education， Jilin University， Changchun 130025， China
Keywords:
autonomous vehicles;  T-shape intersection;  safety coefficient;  collision avoidance planning;  artificial potential field;  increment-type digital PI controller
CLC:
TP242.6
DOI:
10.3969/j.issn.1673-4785.201301021
Abstract:
Focusing on the collaboration of autonomous vehicles at a T-shape intersection, by measuring the vehicle speed and the distance of the vehicle away from the preset collision point, a safety coefficient estimation method is proposed. In combination with the basic thoughts on the artificial potential field, the collision avoidance of vehicles at an intersection may be realized and the intersection collaboration efficiency may be improved. Firstly, based on the safety coefficient obtained by calculations, the safety degree of two autonomous vehicles driving into the T-shape intersection are evaluated respectively, the push-pull function is derived from the artificial potential field and is utilized to estimate the expected control force and speed of the autonomous vehicles; then, a deviation is formed between the estimated expected vehicle speed and the actual feedback speed, the increment-type digital PI controller is utilized to realize accurate control for the longitudinal speed of an autonomous vehicle; finally, proper tactics are applied to complete the parallel collaboration of the two vehicles. The simulation result verifies the feasibility and effectiveness of the cooperative collision avoidance of autonomous vehicles at a T-shape intersection estimated on the basis of the safety coefficient.
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