Pedestrian crossing simulation and vehicle right-turn obstacle avoidance path planning method

doi:10.3969/j.issn.1674-8484.2024.01.011

Abstract

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

CLC Number:

TP274

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.

Figures/Tables 23

References 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