智能系统学报Issue(5)：408-414,7.DOI:10.3969/j.issn.1673-4785.201301021
自主车辆安全系数估计与T形路口避碰规划
Estimation of the safety coefficient of autonomous vehicles and collision avoidance planning at the T-shape intersection
摘要
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 uti-lized to estimate the expected control force and speed of the autonomous vehicles; then, a deviation is formed be-tween 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 ef-fectiveness of the cooperative collision avoidance of autonomous vehicles at a T-shape intersection estimated on the basis of the safety coefficient .关键词
自主车辆/T形路口/安全系数/避碰规划/人工势场/增量型数字PI控制器Key words
autonomous vehicles/T-shape intersection/safety coefficient/collision avoidance planning/artificial potential field/increment-type digital PI controller分类
信息技术与安全科学引用本文复制引用
黄维,田彦涛,樊泽华,王磊..自主车辆安全系数估计与T形路口避碰规划[J].智能系统学报,2013,(5):408-414,7.基金项目
国家自然科学基金资助项目（60675057）． （）
