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工程设计学报
工程设计学报  2012, Vol. 19 Issue (5): 379-384    
机电一体化和智能化系统设计理论、方法与技术     
基于危险斥力场的自动驾驶汽车主动避撞局部路径规划
 肖浩, 宋晓琳, 曹昊天
湖南大学 汽车车身先进设计制造国家重点实验室,湖南 长沙 410082
Local path planning for autonomous vehicle collision avoidance based on dangerous repellant fields
 XIAO  Hao, SONG  Xiao-Lin, CAO  Hao-Tian
State Key Laboratory of Advanced Design & Manufacture for Vehicle Body,Hunan University, Changsha 410082, China
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摘要： 针对平直道路上碰撞交通事故的多发性和复杂性,借鉴人工势场理论思想,提出了一种基于危险斥力场的自动驾驶汽车主动避撞局部路径规划算法.该算法建立了算盘式道路和危险斥力场模型,根据算珠受到来自道路边界斥力、障碍物边界斥力和线性拉伸弹簧拉力共同作用达到的受力平衡状态,得到一个非线性方程组,用牛顿迭代法求解出一条能安全避开障碍物且符合汽车动力学性能要求的避障路径.仿真结果表明,该算法有效可行,且具有运算量小、实时性好、安全可靠的特点.
关键词： 主动避撞;  局部路径规划;  危险斥力场;  牛顿迭代法    
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 repellant 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.
Key words: collision avoidance    local path planning    dangerous repellant fields    Newton iteration
出版日期: 2012-10-28
基金资助:

国家自然科学基金资助项目(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).
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肖浩
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引用本文:

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.

XIAO Hao, SONG Xiao-Lin, CAO Hao-Tian. Local path planning for autonomous vehicle collision avoidance based on dangerous repellant fields. Chinese Journal of Engineering Design, 2012, 19(5): 379-384.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/    或    https://www.zjujournals.com/gcsjxb/CN/Y2012/V19/I5/379

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