北京航空航天大学学报2026，Vol.52Issue(2)：415-425,11.DOI:10.13700/j.bh.1001-5965.2024.0404
基于改进动态窗口法的离轴式全拖挂车辆主动避障
Active obstacle avoidance based on an improved dynamic window approach for off-axis full trailer vehicles
摘要
Abstract
Full trailers are at a significant risk of collision since the local planning algorithm for regular passenger cars does not completely account for the entire trailer system.To address this issue,a refined dynamic window approach(DWA)is proposed specifically for off-axis full trailer systems to enable proactive obstacle avoidance for unmanned full trailer systems on unstructured roads.Initially,the sampling of the towing vehicle's speed constructs a velocity vector space.The motion paths of both vehicles are then forecasted using the kinematic model of the system and the data that were sampled.Subsequently,introducing sub-cost functions related to the target point's position,an evaluation function tailored to the trailer system is proposed.Finally,the optimal velocity is selected based on the evaluation function to ensure the system safely reaches the target point.Experimental results demonstrate the method's reliable safety in obstacle avoidance tasks,with a minimum distance of 0.83 meters between the towing vehicle and obstacle boundaries in real vehicle experiments,and 0.89 meters for the full trailer from obstacle boundaries.关键词
全拖挂车辆/动态窗口法/非结构化道路/主动避障/运动学模型Key words
full trailer vehicle/dynamic window approach/unstructured road/active obstacle avoidance/kinematic model分类
信息技术与安全科学引用本文复制引用
胡丹丹,赵金聚,牛国臣..基于改进动态窗口法的离轴式全拖挂车辆主动避障[J].北京航空航天大学学报,2026,52(2):415-425,11.基金项目
国家自然科学基金(U2333205) （U2333205）
中央高校基本科研业务费专项资金(3122023PY04) National Natural Science Foundation of China(U2333205) （3122023PY04）
The Fundamental Research Funds for the Central Universities(3122023PY04) （3122023PY04）
