基于贝塞尔曲线的车辆避撞控制方法

摘要:

复杂动态交通场景中车辆行驶环境复杂,动态障碍物与车辆避撞安全距离的时空动态耦合特性影响行驶车辆避撞路径规划效果,导致其避撞控制效果不佳。为此,提出基于贝塞尔曲线的车辆避撞控制方法。先构建车辆行驶环境,获取根据静态障碍物位置与车道分布,并通过动态障碍物初始位置与行驶参数的获取,预测动态障碍物位置,实现复杂行驶环境中动静态障碍物信息的获取。然后考虑车辆行驶的运动学和动力学原理,检测车辆实时行驶数据,作为车辆避撞控制初始值。根据车辆避撞安全距离求解结果,利用贝塞尔曲线,规划车辆避撞行驶路线。最后根据车辆行驶位置与规划路线之间的偏差,得出车辆避撞控制程序触发决策结果。在设定约束条件作用下,计算规划避撞控制目标与初始值之间的偏差作为控制量,生成并执行车辆避撞控制指令,实现车辆避撞控制。实例分析结果表明:在静态、动态和静动态复合场景下,与传统控制方法相比,优化设计控制方法的车辆行驶路线拟合偏差和行驶速度控制偏差均得到明显降低,且车辆的动态曲率约束满足度和多障碍物避撞安全裕度取值更大,证明其可有效实现车辆碰撞,控制效果较好。

Abstract:

In complex dynamic traffic scenarios, the driving environment of vehicles is complex, and the spatiotemporal dynamic coupling characteristics of dynamic obstacles and the safe distance for vehicle collision avoidance affect the effectiveness of collision avoidance path planning, resulting in poor collision avoidance control. Therefore, a vehicle collision avoidance control method based on Bezier curve is proposed. Firstly, construct the driving environment of the vehicle, obtain the static obstacle position and lane distribution, and predict the dynamic obstacle position by obtaining the initial position and driving parameters of the dynamic obstacles, achieving the acquisition of dynamic and static obstacle information in complex driving environments. Then consider the kinematic and dynamic principles of vehicle movement, detect real-time driving data of the vehicle, and use it as the initial value for vehicle collision avoidance control. Based on the calculation results of the safe distance for vehicle collision avoidance, use the Bezier curve to plan the vehicle"s collision avoidance driving route. Finally, based on the deviation between the vehicle"s driving position and the planned route, the decision result triggered by the vehicle collision avoidance control program is obtained. Under the constraint conditions, calculate the deviation between the planned collision avoidance control target and the initial value as the control variable, generate and execute vehicle collision avoidance control instructions, and achieve vehicle collision avoidance control. The results of the case analysis show that in static, dynamic, and static dynamic composite scenarios, compared with traditional control methods, the optimized design control method significantly reduces the fitting deviation of the vehicle"s driving route and the control deviation of the driving speed. Moreover, the satisfaction degree of the vehicle"s dynamic curvature constraint and the safety margin of multi obstacle collision avoidance are larger, proving that it can effectively achieve vehicle collisions and has good control effects.