基于风险概率的紧急避障控制策略研究

Study on Emergency Obstacle Avoidance Control Strategy Based on Risk Probability

为改善汽车的紧急避障性能,提出一种定量评估车辆紧急避障风险概率的方法并建立相关的控制策略框架。采用时间-事件-流程模式分析整个车辆碰撞过程,并提出可行的转向允许曲线和制动允许曲线。定义车辆避障过程中的事件风险因子和事件损害因子,计算求解最终的避障风险概率。建立紧急避障控制策略框架,自动驾驶汽车可以选择风险概率最小的路径进行避障。为验证所提出的紧急避障控制策略的有效性,进行了驾驶模拟硬件在环实验测试。实验结果表明:在紧急避障控制策略的作用下,车辆可以实现最佳的避障路线,其控制精度较高,并且可以保证车辆的行驶稳定性。

In order to improve the performance of vehicle emergency obstacle avoidance, a quantitative method to evaluate the risk probability of vehicle emergency obstacle avoidance was proposed and a relevant control strategy framework was established. The whole process of vehicle collision is analyzed by time-event-flow model, and feasible steering and braking allowable curves are proposed. Event risk factor and event damage factor in the process of obstacle avoidance are defined, and the final obstacle avoidance risk probability is calculated and solved. According to the established emergency obstacle avoidance control strategy framework, the autonomous vehicle can choose the path with the least risk probability to avoid obstacles. To verify the effectiveness of the proposed emergency obstacle avoidance control strategy, a hardware-in-the-loop test of driving simulation was carried out. Experimental results show that under the action of the emergency obstacle avoidance control strategy, the vehicle can achieve the best obstacle avoidance route with high control precision and guaranteed driving stability of the vehicle.