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.
关键词
毫米波雷达/无人驾驶/电动汽车/汽车换道/动态避障/避障控制
Key words
millimeter-wave radar/unmanned driving/electric vehicles/lane-changing/dynamic obstacle avoidance/avoidance control
维普
万方数据