Path planning and control method for vehicle obstacle avoidance in pedestrian crossing scenes

doi:10.3969/j.issn.1674-8484.2022.03.010

Abstract

Abstract:

A vehicle obstacle avoidance control model was designed based on the driving risk field to avoid autonomous vehicles in the scenes that pedestrians pass cross streets. An obstacle avoidance function was used based on pedestrian repulsion-field gravity-center considering the potential risks of pedestrians in accelerated motion to optimize the lateral obstacle avoidance distance. The driving risk field theory was used to construct a global path planning layer. A local path planning and tracking controller was constructed based on Model Predictive Control (MPC). Some simulation tests were carried out on the PreScan-Carsim platform. The results show that the obstacle avoidance driving stability and lateral safety in the dynamic driving risk field are respectively increases by 7.21% and 4.63% compared with tracking the traditional static global path. Therefore, the designed controller achieves the goal of safe obstacle avoidance.

Key words: intelligent vehicles, driving risk field, model predictive control (MPC), vehicle obstacle avoidance, path planning and tracking control

CLC Number:

U491.2

LI Wenli, XIAO Kaiwen, REN Yongpeng, LI Chao, Yi Fan. Path planning and control method for vehicle obstacle avoidance in pedestrian crossing scenes[J]. Journal of Automotive Safety and Energy, 2022, 13(3): 489-501.

Figures/Tables 20

References 21

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质量	1.650 t
长×宽	4.91.8 m
前轴至质心距离, l_a	1.40 m
后轴至质心距离, l_b	1.65 m
前轮侧偏刚度, C_f	66.9 kN/rad
后轮侧偏刚度, C_r	62.7 kN/rad
转动惯量, I_z	3 234 kg·m^-2

质量	1.650 t
长×宽	4.91.8 m
前轴至质心距离, l_a	1.40 m
后轴至质心距离, l_b	1.65 m
前轮侧偏刚度, C_f	66.9 kN/rad
后轮侧偏刚度, C_r	62.7 kN/rad
转动惯量, I_z	3 234 kg·m^-2

车辆起始位置	(0,5) m
车辆目标位置	(100,5) m
行人起始位置	(23,2) m
车道总宽, L	7.60 m
目的地引力因数, k_a	0.01
道路边界斥力场因数, k_r	0.01
行人斥力场因数, k_P	4.00
行人初始速度, v	0.75 m/s
行人加速度, α	0.25 m·s^-2
行人初始航向角, θ	0°
采样周期	100 ms

车辆起始位置	(0,5) m
车辆目标位置	(100,5) m
行人起始位置	(23,2) m
车道总宽, L	7.60 m
目的地引力因数, k_a	0.01
道路边界斥力场因数, k_r	0.01
行人斥力场因数, k_P	4.00
行人初始速度, v	0.75 m/s
行人加速度, α	0.25 m·s^-2
行人初始航向角, θ	0°
采样周期	100 ms

	局部规划层	轨迹跟踪层
采样周期	10 ms	1 ms
预测时域, N_P	20	25
控制时域, N_c	2	10
权重矩阵, Q	100	^{[2 000,0; 0,10 000]}
权重矩阵, R	20	5×10⁴
避障权重因数, Sobs	20 000	—
控制量约束	—	[-10°, 10°]
控制增量约束	[-7.84, 7.84]m·s^-2	[-0.85°, 0.85°]
松弛因子, ε	—	10
松弛因子权重, ρ	—	1 000