中国机械工程2026，Vol.37Issue(8)：1865-1874,10.DOI:10.3969/j.issn.1004-132X.2026.08.006
基于单边-逐级引导势场的超车避障研究
Overtaking Obstacle Avoidance Study Based on Unilateral-phase-by-phase Guided Potential Field
摘要
Abstract
To effectively avoid obstacle vehicles during lane-changing and overtaking maneuvers,this study proposes a dynamic obstacle avoidance strategy based on a unilateral hierarchical guiding potential field.A unilateral repulsive field for obstacle vehicles is constructed using cubic quasi-uniform B-spline curves to achieve more accurate risk characterization.A dynamic target attractive field is established to pro-vide hierarchical path guidance.Additionally,a waypoint oscillation identification and filtering method is in-troduced to suppress oscillations caused by large simulation steps.For precise trajectory tracking,a feedforward-augmented LQR predictive controller is designed based on a 2-DOF vehicle model.Co-simulation using Matlab/Simulink and CarSim,along with HIL tests,confirms the effectiveness and safety of the proposed strategy.The results show a mean lateral error of less than 0.08 m,an 18%‒25%reduc-tion in key dynamic metrics such as front-wheel steering angle and sideslip angle,and a 10.3%reduction in overtaking distance.关键词
换道超车/路径规划和跟踪控制/改进人工势场法/线性二次型调节器控制/硬件在环Key words
lane changing/path planning and tracking control/improved artificial potential field method/linear quadratic regulator(LQR)control/hardware-in-the-loop(HIL)分类
交通工程引用本文复制引用
张洪昌,闫文博,邹奇展,曾娟..基于单边-逐级引导势场的超车避障研究[J].中国机械工程,2026,37(8):1865-1874,10.基金项目
教育部创新团队发展计划(IRT_17R83) （IRT_17R83）
新能源汽车科学与关键技术学科创新引智基地项目(B17034) （B17034）
