避障
障碍物
避碰
计算机科学
控制理论(社会学)
运动规划
区间(图论)
适应性
控制(管理)
车辆动力学
模拟
工程类
移动机器人
汽车工程
人工智能
数学
机器人
计算机安全
碰撞
组合数学
法学
生物
生态学
政治学
作者
Fuhao Xia,Sijun Li,Haiqing Li
标识
DOI:10.1109/icesit53460.2021.9696529
摘要
Obstacle avoidance decision is an important basis for path planning and the basic logic for establishing obstacle avoidance control methods. For the problems of the existing safety distance model's insufficient adaptability and single obstacle avoidance mode in complex traffic environments, an obstacle avoidance decision method based on lateral and longitudinal safety distance models is proposed. After establishing the longitudinal safety distance model which considers the road adhesion coefficient, the lane change safety distance interval model, the vehicle obstacle avoidance logic is designed. To constrain the vehicle obstacle avoidance deceleration, the peak adhesion coefficient is estimated by the Burckhardt tire model. The simulation results indicated that the method can effectively avoid vehicle collisions and enhanced the safety of driving.
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