基于有限状态机的智能车辆交叉口行为预测与控制

Behavior Prediction and Control Method Based on FSM for Intelligent Vehicles in an Intersection

提出一种智能车辆交叉口行为预测与控制方法.建立交叉口车辆行为预测的有限状态机(FSM)模型,对交叉口其他车辆的行为进行预测.构建应用于智能车辆的混合状态系统,引入有限状态机模型,结合智能车辆交叉口安全条件运行规则,实现智能车辆离散状态分析及车辆控制.运用PreScan和Simulink/Stateflow实现交叉口联合仿真.结果表明,该方法可以使智能车辆安全地通过有其他车辆通行的交叉路口.

A behavior prediction and control method in an intersection for intelligem proposed. A finite state machine （FSM） model was established to predict the be vehicles in the intersection. A hybrid state system for an intelligent vehicle was FSM model was used to analyze the district states combined with the safety rul vehicles and to control the vehicle under the safety condition. A co-simulation w Simulink/Stateflow was conducted. The experiment results show that the intelli safely go through the intersection with other vehicles using the proposed approach.