Dynamic Obstacle Avoidance Control Method for Lane Changing in Unmanned Electric Vehicles Based on Millimeter Wave Radar
When autonomous electric vehicles are changing lanes,it is challenging to accurately assess the dynamic state of obsta-cles on roads,resulting in imprecise obstacle avoidance routes and the possibility of traffic accidents.To address this issue,a dynamic obstacle avoidance control method for lane-changing in autonomous electric vehicles based on millimeter-wave radar is proposed.The built-in sensors of the electric vehicle are used to detect the driving status of the autonomous electric vehicle and the road environment,and determine whether the vehicle meets the conditions for lane-changing.The method comprehensively considers the movement states of both the electric vehicle and the dynamic obstacles to make decisions on the lane-changing behavior for the autonomous elec-tric vehicle.Millimeter-wave radar is used to design a dynamic obstacle avoidance controller to plan avoidance routes for lane-changing obstacle according to decision results,generating control commands to achieve dynamic obstacle avoidance control during lane-chan-ging for autonomous electric vehicles.Experimental results from effectiveness testing demonstrate that the measurement error of mil-limeter-wave radar can be controlled within 0.1 mm,significantly reducing position control errors and collision risks,thereby achie-ving a superior control performance.
millimeter-wave radarunmanned drivingelectric vehicleslane-changingdynamic obstacle avoidanceavoidance control
万方数据
维普
