基于新型人工势场法的车辆避障路径规划研究方法

发布时间：2019-04-26 21:43

【摘要】：针对道路交通环境车辆避障的复杂性,对传统人工势场法进行了改进,将其应用于车辆的避障路径规划;该方法建立了道路边界危险斥力势场模型和障碍物斥力势场模型,并在传统障碍物斥力势场中引入速度因素,车辆在以上两种势场组成的复合场中受到道路边界斥力、障碍物斥力的作用。当达到受力平衡时,通过求解方程可以得到一条安全避障路径;并在避障过程中对车辆实施速度控制。仿真分析结果表明改进后的方法规划出的路径在避障过程中,车辆与障碍物的距离增加至少20 cm,可有效地提高避障的安全性;避障过程中对主车车速进行控制,可使主车的横摆角速度和侧向加速度降低至少20%,有效地提高车辆运行的舒适性和安全性。
[Abstract]:In view of the complexity of vehicle obstacle avoidance in road traffic environment, the traditional artificial potential field method is improved and applied to vehicle obstacle avoidance path planning. In this method, the dangerous repulsive force field model and obstacle repulsive force field model on the road boundary are established, and the velocity factor is introduced into the traditional obstacle repulsive force field. The vehicle is subjected to the road boundary repulsive force in the compound field composed of the above two potential fields. The effect of repulsive force on an obstacle. When the force balance is reached, a safe obstacle avoidance path can be obtained by solving the equation, and the vehicle speed control can be carried out in the process of obstacle avoidance. The simulation results show that the distance between vehicle and obstacle can be increased by at least 20 cm, in the process of obstacle avoidance, and the safety of obstacle avoidance can be effectively improved by the improved method. Controlling the speed of the main vehicle during obstacle avoidance can reduce the yaw angular velocity and lateral acceleration of the main vehicle by at least 20%, and effectively improve the comfort and safety of the running of the vehicle.
【作者单位】：江苏大学汽车与交通工程学院;
【基金】：国家自然科学基金(61403172)资助
【分类号】：U463.6;U495

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