摘要
为提高智能车辆的行车安全性,以单向双车道超车行为为研究对象,分析了超车过程中驾驶员行为,建立了安全超车约束条件,并依此对传统人工势场法中存在无法到达目标点以及局部最优的缺点进行归纳,通过改变斥力势场函数以及建立斥力角旋转对人工势场算法进行改进。依据超车约束条件,结合改进人工势场法,通过搭建Simulink/CarSim联合仿真平台,对智能汽车超车轨迹进行仿真验证。仿真结果表明,改进的路径规划模型安全有效地实现了智能车辆的超车行为。
In order to improve the driving safety of intelligent vehicles,this paper takes one-way two-lane overtaking behavior as the research object,analyzes the driver's behavior in the overtaking process,and establishes safe overtaking constraints.Based on this,the traditional artificial potential field method has the disadvantages of not reaching the target point and the local optimum.The artificial potential field algorithm is improved by changing the repulsion potential field function and establishing the repulsion angle rotation.Based on the overtaking constraints,combined with the improved artificial potential field method,a Simulink/CarSim joint simulation platform is built to simulate and verify the overtaking trajectory of the smart car.The simulation results show that the improved path planning model safely and effectively realizes the overtaking behavior of intelligent vehicles.
作者
余政
Yu Zheng(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《农业装备与车辆工程》
2021年第9期64-68,共5页
Agricultural Equipment & Vehicle Engineering
关键词
单向双车道
智能汽车
超车模型
路径规划
人工势场
one-way two-lane
intelligent vehicle
overtaking model
path planning
artificial potential field
