工程设计学报2012，Vol.19Issue(5)：379-384,6.DOI:10.3785/j.issn.1006-754X.2012.05.010
基于危险斥力场的自动驾驶汽车主动避撞局部路径规划
Local path planning for autonomous vehicle collision avoidance based on dangerous repellant fields
摘要
Abstract
Aiming at the frequency and complexity of traffic accidents on straight road, according to artificial potential field theory, this paper presents a local path planning algorithm for autonomous vehicle collision avoidance based on dangerous repelSant fields. By constructing a model of China abacus-like road with two-lane and dangerous repellant fields, bead achieved the equilibrium which is based on road boundary repellant, obstacle boundary repellant and linear spring tension. Thus, we got a non-linear equations, and solved out a non-collision trajectory which meets the requirements of vehicle system dynamics by using Newton iteration. Simulation experimental results show that the algorithm for vehicle collision avoidance is effective with the characteristics like little computation workload, good real-time performance and outstanding security and reliability.关键词
主动避撞/局部路径规划/危险斥力场/牛顿迭代法Key words
collision avoidance/ local path planning/ dangerous repellant fields/ Newton iteration分类
信息技术与安全科学引用本文复制引用
肖浩,宋晓琳,曹昊天..基于危险斥力场的自动驾驶汽车主动避撞局部路径规划[J].工程设计学报,2012,19(5):379-384,6.基金项目
国家自然科学基金资助项目(51175159) （51175159）
湖南大学汽车车身先进设计制造国家重点实验室团队重点资助项目(60870004). （60870004）
