[1]唐友名,孙冠豫,孙贵斌,等.基于城市超车工况的智能车辆避障规划方法研究[J].智能系统学报,2024,19(3):619-626.[doi:10.11992/tis.202209060]
TANG Youming,SUN Guanyu,SUN Guibin,et al.Autonomous vehicle trajectory planning based on urban overtaking conditions[J].CAAI Transactions on Intelligent Systems,2024,19(3):619-626.[doi:10.11992/tis.202209060]
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TANG Youming,SUN Guanyu,SUN Guibin,et al.Autonomous vehicle trajectory planning based on urban overtaking conditions[J].CAAI Transactions on Intelligent Systems,2024,19(3):619-626.[doi:10.11992/tis.202209060]
基于城市超车工况的智能车辆避障规划方法研究
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
19
期数:
2024年第3期
页码:
619-626
栏目:
学术论文—机器人
出版日期:
2024-05-05
- Title:
- Autonomous vehicle trajectory planning based on urban overtaking conditions
- Keywords:
- automatic drive; artificial potential field method; model prediction control; overtaking conditions; trajectory planning; safe distance; vehicle dynamics; obstacle avoidance strategy
- 分类号:
- TP181；U46
- 文献标志码:
- 2023-07-31
- 摘要:
- 在城市道路行驶中，超车驾驶既是常见的驾驶行为，也是常见的交通事故工况之一。基于改进人工势场法（artificial potential field method）与模型预测控制(model predicition control)提出了一种避障规划控制方法。首先，构建目标点引力势场函数、道路及车道线势场函数以及障碍物车辆势场函数；其次，基于势场函数建立统一化模型函数；最后，对系统进行模拟实验评估。结果表明，提出的避障规划控制方法能够生成安全、平滑的路径，其前轮转角变化范围在[-0.67°, 1.02°]，质心侧偏角变化范围在[-0.22°, 0.32°]，具有稳定的控制能力。
- Abstract:
- Overtaking is a common driving behavior on urban road. It is also one of the common behaviors in traffic accidents. Based on the improved artificial potential field method (APF) and model prediction control (MPC), a barrier avoidance planning control method was proposed in this study. The method firstly built the gravitational potential field function of the target point, the potential field function of the road & lane line and the potential field function of the obstacle vehicle, then established the unified model function on the basis of the potential field function, and finally evaluated the simulation experiment of the system. The results show that the proposed obstacle avoidance planning control method can generate a safe and smooth path, with the change range of the turning angle of the front wheel within [-0.67°, 1.02°], the change scope of the side slip angle within [-0.22°, 0.32°], having stable control ability.
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备注/Memo
收稿日期:2022-09-28。
基金项目:国家自然科学基金项目（51975172）；国家高端外专项目（G20200221011）；福建省自然科学基金项目（2021J011197）；浙江省自然科学基金项目（LY19E050012）；厦门市重大科技项目（3502Z20201015）；厦门理工学院研究生科技创新项目（YKJCX2021024）.
作者简介:唐友名，教授，博士，《中国安全科学学报》首届青年编委，主要研究方向为智能驾驶与汽车安全、动力电池安全技术。主持省部级以上科研项目9项，获福建省青年科技奖、福建省科技进步二等奖和三等奖各1项（排名第1），获国家专利授权87件，发表学术论文40余篇，出版学术专著2部。E-mail：tangym1981@163.com;孙冠豫，硕士研究生，主要研究方向为智能驾驶与路径规划。作为参赛队队长荣获2022年第二十四届中国机器人及人工智能大赛百度Apollo 城市道路自动驾驶虚拟仿真赛福建赛区一等奖和全国总决赛三等奖（排名第一）。E-mail：sgy2020year@163.com;孙贵斌，副教授，主要研究方向为车辆安全技术、新能源汽车设计。主持省级以上科研项目4项，获福建省科技进步奖1项，获国家专利授权16件，发表学术论文10余篇，出版国家规划教材1部。 E-mail：sgbzxx@xmut.edu.cn
通讯作者:唐友名. E-mail：tangym1981@163.com
更新日期/Last Update:
1900-01-01