基于可达集的车辆躲避策略及安全性验证

Vehicle Avoidance Strategy and Security Verification Based on Reachable Set

针对目前传统算法在安全性验证中置信水平较低的问题,将自主车辆在道路上的行为视为混合系统,提出以道路边界为约束条件的安全区域可达集建模方法。在此基础上建立安全等级评判标准,给出自主车辆道路行为的哈密顿雅可比方程;提出自主车辆避障问题的最优控制方法。结果表明,该方法不仅可以应用于自动驾驶车辆的安全性验证,还能够对手动驾驶的危险行为进行预警和规避,增加了车辆安全性验证的置信度。

At present,the traditional algorithm in security verification letter mid lower level of the problem,the behavior in the path of the autonomous vehicle as a hybrid system,put forward the safety area of up to the road boundary constraint modeling method.The establishment of safety evaluation standard on the basis of this,to the Hamilton Jacobi equation from the main road vehicle behavior.The optimal control method is proposed for autonomous vehicle obstacle avoidance problem.The results show that the safety verification of this method can be used in automatic driving of the vehicle,but also dangerous behavior on manual driving the warning and avoiding,increase the confidence of vehicle safety verification.