The invention discloses an unmanned vehicle lane-changing obstacle-avoiding decision-making planning method based on an artificial potential field, and the method is used for the autonomous decision making of an automatic driving technology. Compared with a traditional artificial potential field method, a potential field function is firstly optimized, a repulsive force field function of an obstacle is improved, the concept of relative quality is introduced, and the repulsive force potential field value calculated in real time is more scientific and reasonable. And meanwhile, in order to limit the transverse movement of the unmanned vehicle, a road potential field for ensuring that the unmanned vehicle runs according to a specified road is established. Secondly, a fuzzy logic controller is established, and the obstacle avoidance behavior of the unmanned vehicle is autonomously decided by outputting the lane changing willingness; finally, the safe lane changing and obstacle avoiding distance is calculated in real time, the Dubins curve is used for executing the lane changing and obstacle avoiding behavior, and lane changing and obstacle avoiding of the unmanned vehicle are completed.
本发明公开了一种基于人工势场无人车换道避障决策规划方法,用于自动驾驶技术自主决策。与传统人工势场法相比,首先优化了势场函数,其中改进了障碍物的斥力场函数,引入了相对质量的概念,实时计算的斥力势场值更科学合理。同时为限制无人车的横向运动,建立了保障无人车按规定道路行驶的道路势场。其次,建立模糊逻辑控制器,通过输出换道意愿自主决策无人车的避障行为。最后,实时计算安全换道避障距离,使用Dubins曲线执行换道避障行为,完成无人车的换道避障。
Unmanned vehicle lane change obstacle avoidance decision planning method based on artificial potential field
一种基于人工势场无人车换道避障决策规划方法
23.06.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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