无人驾驶车辆的路口防撞机制研究

Research of collision avoidance mechanism for autonomous vehicles at the intersection

防撞协议是提高无人驾驶车辆安全性的重要组成部分,大部分防撞协议已经为路口外的车辆提供了躲避机制。交叉路口因其流量大、方向多而成为事故易发地,但对已在路口内部的车辆的防撞协议的研究比较少。自治路口协议AIM作为目前较流行的路口管理协议之一,也未给出已在路口的车辆的防撞协议。给出了两类基于路口空间的防撞协议:当路口空间较小时,改进的AIM根据三种情况,即同向、逆向、垂直同向,给出了基于刹车的躲避机制;当路口空间较大时,改进的AIM除可以采用基于刹车的躲避机制外,还可以通过转弯为车辆重新规划路线使其通过路口。通过实验证明了改进的AIM的有效性。

Abstract：Collision avoidance protocol is important in improving autonomous vehicles＇ safety. Most of collision avoidance protocols provide vehicles outside the intersection with collision avoidance mecha- nism. However, the vehicles at the intersection are easy to be collided because of the high flow and mul- tiple directions, but most of the existing collisions avoidance plans do not provide appropriate strategies for those vehicles at the intersection. As the popular protocol, AIM does not support collision avoidance at the intersection. Two collision avoidance protocols at the intersection are proposed： （1） when the space is small, the improved AIM gives the brake based avoidance plans according to three conditions, i. e. , in the same/opposite/vertical directions; （2） when the space is large, besides providing the brake based avoidance plans, the improved AIM can support avoidance by turning the vehicles. The effective- ness of the improvements is demonstrated by an example.