多车道纵向避障控制算法研究

Research on multi-lane longitudinal obstacle avoidance control algorithm

随着多车道的出现,高速道路匝道数目的增加以及道路特点,使车辆行驶环境变得尤为复杂,导致行驶事故极易发生。考虑到行车场景的复杂性,本文分析车辆间关系,推导邻车关联性及碰撞机理,充分考虑邻车状态对本车的影响,建立多车道车辆运行碰撞风险模型,并计算危险度。以前车相对速度和相对距离为输入,建立隶属度函数以及对应规则,定义各参数的论域范围,利用模糊控制方法求解出合理的期望加速度,结合安全距离模型建立纵向避障控制策略,实现纵向避障。

With the emergence of multi-lane,the increasing number of freeway ramp and road characteristics make the vehicle driving environment more complex,which leads to the occurrence of driving accidents easily.Considering the complexity of the driving scenario,the multi-lane vehicle state and the complex road condition collision types are described,the vehicle correlation and collision mechanism of adjacent lanes are deduced,and the influence of the neighboring vehicle state on the vehicle is fully considered.The collision risk is determined by considering the threat posed by different vehicles,the threat of lane change risk,and the threat of driver attributes.