在城市道路行驶中,超车驾驶既是常见的驾驶行为,也是常见的交通事故工况之一.基于改进人工势场法(artificial potential field method)与模型预测控制(model predicition control)提出了一种避障规划控制方法.首先,构建目标点引力势场函数、道路及车道线势场函数以及障碍物车辆势场函数;其次,基于势场函数建立统一化模型函数;最后,对系统进行模拟实验评估.结果表明,提出的避障规划控制方法能够生成安全、平滑的路径,其前轮转角变化范围在[-0.67°,1.02°],质心侧偏角变化范围在[-0.22°,0.32°],具有稳定的控制能力.
Abstract
Overtaking is a common driving behavior on urban road.It is also one of the common behaviors in traffic ac-cidents.Based on the improved artificial potential field method(APF)and model prediction control(MPC),a barrier avoidance planning control method was proposed in this study.The method firstly built the gravitational potential field function of the target point,the potential field function of the road&lane line and the potential field function of the obstacle vehicle,then established the unified model function on the basis of the potential field function,and finally eval-uated the simulation experiment of the system.The results show that the proposed obstacle avoidance planning control method can generate a safe and smooth path,with the change range of the turning angle of the front wheel within[-0.67°,1.02°],the change scope of the side slip angle within[-0.22°,0.32°],having stable control ability.
维普
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