行人过街模拟及车辆右转避障路径规划方法

doi:10.3969/j.issn.1674-8484.2024.01.011

摘要/Abstract

摘要：

为解决无信号十字路口右转车辆与同侧过街行人的交互冲突问题，提出一种模拟过街行为的行人过街运动模型，设计了车辆横纵向解耦避障路径规划算法，并进行了仿真实验。使车辆面向动、静态行人时能合理切换避障路径规划策略；同时，将过街运动模型驱动下的行人作为车辆避障对象，以过街模型输出的行人未来轨迹生成车辆纵向速度规划障碍位移—时间区域，从而让行人未来运动状态反馈到车辆避障中。结果表明: 本文的行人过街运动模型相对观测值的准确率达到了90%，因此，该模型复现了行人过街过程；能根据行人运动状态切换避障方案，使车辆安全避让过街行人。

关键词: 智能驾驶, 车辆右转, 车辆路径规划, 行人避障, 行人运动模型, 横纵向解耦

Abstract:

A pedestrian crossing motion model simulating the crossing behavior was proposed to solve the problem of interaction conflict between right-turning vehicles and pedestrians crossing the street on the same side at unsignalized intersections. A vehicle horizontal and vertical decoupling obstacle avoidance path planning algorithm were designed with the simulation experiments carrying out. Enable the vehicle to reasonably switch obstacle avoidance path planning strategies when facing dynamic and static pedestrians. The pedestrian driven by the crossing motion model was taken as the obstacle avoidance object of the vehicle with the vehicle longitudinal-speed planning obstacle distance-time region generated based on the future trajectory of the pedestrian output from the crossing model to make the future movement state of the pedestrian feed back to the vehicle obstacle avoidance. The results show that the accuracy of this pedestrian crossing motion model reaches the 90% of the observed values. Therefore, the model reproduces the current pedestrian crossing process with switching the scheme according to the pedestrian's motion state to make vehicle avoid crossing pedestrians.

Key words: intelligent driving, vehicle turning right, vehicle route planning, pedestrian avoidance, pedestrian motion model, horizontal and vertical decoupling

中图分类号:

TP274

李文礼, 任勇鹏, 肖凯文, 孙圆圆. 行人过街模拟及车辆右转避障路径规划方法[J]. 汽车安全与节能学报, 2024, 15(1): 99-110.

LI Wenli, REN Yongpeng, XIAO Kaiwen, SUN Yuanyuan. Pedestrian crossing simulation and vehicle right-turn obstacle avoidance path planning method[J]. Journal of Automotive Safety and Energy, 2024, 15(1): 99-110.

图/表 23

参考文献 17

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车辆(v) id	id_v
行人(p) id	id_p
车辆初始坐标	[x_v, y_v]
行人初始坐标	[x_p, y_p]
车辆初始航向角	φ_v
行人初始航向角	φ_p
车辆初始平均速度	v_v
行人初始平均速度	v_p
行人目的地坐标	[$\bar{x_{p}},\bar{y_{p}}$]
行人平均角速度	ω_p
行人启动时刻	t_s
行人停止时刻	t_e

车辆(v) id	id_v
行人(p) id	id_p
车辆初始坐标	[x_v, y_v]
行人初始坐标	[x_p, y_p]
车辆初始航向角	φ_v
行人初始航向角	φ_p
车辆初始平均速度	v_v
行人初始平均速度	v_p
行人目的地坐标	[$\bar{x_{p}},\bar{y_{p}}$]
行人平均角速度	ω_p
行人启动时刻	t_s
行人停止时刻	t_e

	v_p / (m·s^-1)	ω_p / (rad·s^-1)
值域	(0.00, 2.00)	(0.00, 2.00)
均值	0.95	0.85
15%位值	0.23	0.25
85%位值	1.58	1.35
采样间隔 / s	0.20	0.25

	v_p / (m·s^-1)	ω_p / (rad·s^-1)
值域	(0.00, 2.00)	(0.00, 2.00)
均值	0.95	0.85
15%位值	0.23	0.25
85%位值	1.58	1.35
采样间隔 / s	0.20	0.25

模型	纵向(?)	横向(?)	横摆(φ? )
自行车模型	v₁·cosφ₁	v₁·sinφ₁	v₁·tan(δ_f/ l)
两轮差速模型	v₂·cosφ₂	v₂₁·sinφ₂	ω