基于横向安全距离模型的主动避障算法

现有的安全距离模型是基于纵向相对车速或减速度值建立的,没有考虑移动目标的横向运动特性。本文利用移动目标横穿马路的速度、相对位置,建立横向安全距离模型,并提出一种基于横向安全距离模型的主动避障算法。首先,根据横向移动目标横穿马路的速度、相对位置和自车的制动距离建立横向安全距离模型,设计主动避障算法。接着,为计及路面条件对制动效果的影响,引入当前行驶路面估算的附着系数峰值估算最大制动减速度,约束目标避障减速度,并调整制动强度,以适应不同路况的安全避障行驶。最后,以典型横向移动目标骑行者作为研究对象,通过PreScan/Simulink/CarSim联合仿真验证避障算法的有效性。结果表明:基于横向安全距离模型的主动避障算法能有效避免与骑行者碰撞,提高行车的主动安全性。

Active Obstacle Avoidance Algorithm Based on Lateral Safety Distance Model

The existing safety distance model is established based on longitudinal relative speed or deceleration,without considering the lateral motion characteristics of moving target.In this paper,the relative speed and position of the moving target crossing the road are used to set up lateral safe distance model,and an active obstacle avoidance algorithm based on lateral safe distance model is proposed.Firstly,a lateral safety distance model is established according to the relative speed and position of the moving target crossing the road and the braking distance of ego vehicle,and the active obstacle avoidance algorithm is designed.Then,considering the influence of road conditions on braking effect,the predicted peak adhesion coefficient of current road surface is introduced to estimate the maximum braking deceleration,with the expected obstacle avoidance deceleration constrained to adjust braking intensity for adapting to the safe obstacle avoidance driving in different road conditions.Finally,with the typical lateral moving target-cyclist as research object,a PreScan/Simulink/Carsim co-simulation is conducted to verify the effectiveness of the obstacle avoidance algorithm.The results show that the active obstacle avoidance algorithm based on lateral safe distance model can effectively avoid vehicle collision with cyclist,so enhancing the active safety of driving.