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行人过街模拟及车辆右转避障路径规划方法

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为解决无信号十字路口右转车辆与同侧过街行人的交互冲突问题,提出一种模拟过街行为的行人过街运动模型,设计了车辆横纵向解耦避障路径规划算法,并进行了仿真实验.使车辆面向动、静态行人时能合理切换避障路径规划策略;同时,将过街运动模型驱动下的行人作为车辆避障对象,以过街模型输出的行人未来轨迹生成车辆纵向速度规划障碍位移—时间区域,从而让行人未来运动状态反馈到车辆避障中.结果表明:本文的行人过街运动模型相对观测值的准确率达到了90%,因此,该模型复现了行人过街过程;能根据行人运动状态切换避障方案,使车辆安全避让过街行人.
Pedestrian crossing simulation and vehicle right-turn obstacle avoidance path planning method
A pedestrian crossing motion model simulating the crossing behavior was proposed to solve the problem of interaction conflict between right-turning vehicles and pedestrians crossing the street on the same side at unsignalized intersections.A vehicle horizontal and vertical decoupling obstacle avoidance path planning algorithm were designed with the simulation experiments carrying out.Enable the vehicle to reasonably switch obstacle avoidance path planning strategies when facing dynamic and static pedestrians.The pedestrian driven by the crossing motion model was taken as the obstacle avoidance object of the vehicle with the vehicle longitudinal-speed planning obstacle distance-time region generated based on the future trajectory of the pedestrian output from the crossing model to make the future movement state of the pedestrian feed back to the vehicle obstacle avoidance.The results show that the accuracy of this pedestrian crossing motion model reaches the 90%of the observed values.Therefore,the model reproduces the current pedestrian crossing process with switching the scheme according to the pedestrian's motion state to make vehicle avoid crossing pedestrians.

intelligent drivingvehicle turning rightvehicle route planningpedestrian avoidancepedestrian motion modelhorizontal and vertical decoupling

李文礼、任勇鹏、肖凯文、孙圆圆

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重庆理工大学 汽车零部件先进制造技术教育部重点实验室,重庆 400054,中国

智能驾驶 车辆右转 车辆路径规划 行人避障 行人运动模型 横纵向解耦

国重庆市自然科学基金面上项目重庆市教委科学技术研究项目重庆市技术创新重大研发项目重庆市留学人员回国创业创新支持计划资助项目

cstc2021jcyjmsxmX0183KJQN202201170CSTB2022TIAD-STX0003CX2021070

2024

10.3969/j.issn.1674-8484.2024.01.011

汽车安全与节能学报
清华大学

汽车安全与节能学报

CSTPCD北大核心
影响因子：0.748
ISSN：1676-8484
年,卷(期)：2024.15(1)
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