Research on Pedestrian Emergency Obstacle Avoidance System Based on Domain Architecture Combining Longitudinal and Transverse Directions
An emergency obstacle avoidance strategy based on domain architecture combining longitudinal and transverse directions is proposed in the scenario of pedestrian crossing the street.Firstly,a pedestrian emergency obstacle avoidance system based on domain architecture is built,and the longitudinal and transverse trajectory decision planning method is fitted through the maximum deceleration model and polynomial group.Based on the sampling discrete numerical calculation method,the optimal trajectory solution is selected by the calculation and comparison of cost function that comprehensively considers the obstacle avoidance safety distance,dynamic constraint and smoothness.Then,the double-loop Proportion Integral Differential(PID)and Linear Quadratic Regulator(LQR)are used to control the longitudinal and transverse movements.Finally,the applicability of the obstacle avoidance system is verified through joint simulation of PreScan,CarSim and Simulink,as well as domain architecture system delay analysis.The obstacle avoidance system improves road safety effectively.
E/E ArchitecturesPedestrian obstacle avoidanceLongitudinal and transverse controlTrajectory planningTrajectory tracking
万方数据
维普
