无人驾驶汽车十字路口多车协作控制研究

Research on Multi-Vehicle Cooperative Control of Unmanned Vehicle at Intersection

针对无交通灯控制的十字交叉路口的无人驾驶汽车主动避让控制问题,基于专用短程通信技术(DSRC),利用多车协作控制算法和矩形检测法建立了基于碰撞时间(TTC)的两车冲突判断模型,预估当前行驶状态下将会发生碰撞的区域。同时从时间和空间两方面设计了消解算法,根据消解算法调整当前行驶状态以避免车辆发生碰撞。采用PanoSim与MATLAB/Simulink联合仿真,结合模糊PID控制无人驾驶车辆的驱动、制动与转向系统,对所搭建的模型准确度进行验证。试验结果表明,算法能很好地控制无人驾驶车辆在十字路口避免与其他车辆的碰撞。

For the active avoidance control for unmanned vehicles arriving at intersections without traffic lights,based on Dedicated Short Range Communications(DSRC)technology,a multi-vehicle collaborative control algorithm and a rectangular detection method are adopted to establish two-car collision judgment model based on Time To Collision(TTC),estimate the area vulnerable to collision in current driving state.Meanwhile,resolution algorithm is designed from time and space,according to which adjust the current state to avoid vehicle collision.PanoSim and MATLAB/Simulink are applied for co-simulation,and combined with fuzzy PID to control driving,braking and steering system of the unmanned vehicle.Accuracy of the model is verified.Test results indicate that this algorithm can prevent the unmanned vehicle from colliding with other vehicles at intersections.