基于变道操作的主动避障控制策略

On the Control Stratagem of Automatic Obstacle Avoidance Based on Lane Change

基于最佳行驶路径规划方案,结合车道变换操作和车辆纵向速度调节控制,提出了一种车辆紧急避障方法,在紧急变道制动的极限工况下构建了一种安全车距模型,通过对模型进行仿真计算,验证了所提出的安全车距模型的可行性,最后给出这种变道避障系统的软件设计思路。

Based on optimal path planning, this paper presents a combination of lane change operation and vehicle longitudinal speed adjustment control of emergency vehicle obstacle avoidance by establishing the safety distance model in case of the emergency lane changing brake and verifying distance between vehicles model by simulation, and finally presents the design obstacle avoidance system.