基于非对称势场的人车协同博弈避撞

doi:10.19562/j.chinasae.qcgc.2022.10.002

摘要/Abstract

摘要：

为保证人机共驾车辆紧急避让行人时的行人安全和车辆稳定性，提出了一种基于行人非对称势场的人（驾驶员）车协同博弈避撞策略。首先充分考虑行人过街特性及其与车辆的相对运动，建立了一种非对称双椭圆行人势场，以更好地表征行人风险，并在此基础上进行了避撞路径规划。接着为提升避撞过程的车辆稳定性并同时保证轨迹跟踪性能，构建了基于非合作博弈的驾驶员-主动前轮转向（AFS）-主动后轮转向（ARS）三者协同控制器，并在行人避让工况下进行了仿真验证。结果表明：ARS参与后，在确保避撞轨迹跟踪性能的同时，稳定性明显提升，其横向速度误差绝对值均值比驾驶员-AFS两者协同控制器减小了46.43%。

关键词: 协同控制, 改进人工势场, 非合作博弈, 轨迹跟踪, 稳定性控制

Abstract:

In order to ensure the safety of pedestrians and the stability of vehicle in the emergency pedestrian avoidance of human-machine co-driven vehicle， a human （driver）-vehicle cooperative game collision avoidance strategy based on pedestrian asymmetric potential field is proposed. Firstly， with full consideration of the street-crossing characteristics of pedestrian and his relative motion with vehicle， an asymmetric double elliptical pedestrian potential field is established for better characterize pedestrian risk， based on which the path planning for collision avoidance is performed. Then， for enhancing vehicle stability during collision avoidance and ensuring trajectory tracking performance， a non-cooperative game-based driver-AFS-ARS three-way synergy controller is constructed with a simulation on the condition of pedestrian avoidance is conducted for verification. The results show that with the ARS control added， not only the trajectory tracking performance in collision avoidance is ensured， the stability of vehicle is also apparently enhanced， with its average absolute value of error in lateral speed being 46.43% less than driver-AFS cooperative control.

Key words: cooperative control, improved artificial potential field, non-cooperative game, trajectory tracking, stability control

卢少波,谢菲菲,张博涵,陆嘉峰,李彩霞. 基于非对称势场的人车协同博弈避撞[J]. 汽车工程, 2022, 44(10): 1484-1493.

Shaobo Lu,Feifei Xie,Bohan Zhang,Jiafeng Lu,Caixia Li. Human-Vehicle Cooperative Game Collision Avoidance Based on Asymmetric Potential Fields[J]. Automotive Engineering, 2022, 44(10): 1484-1493.

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势场	变量名	数值
行人势场	k_p1 k_p2 k_p3	15 5 1
道路中心线势场	K_c	0.05
方向引力势场	K_a	1
道路边界势场	K_e	0.1
车道线势场	K_l	4

变量	数值
整车质量m /kg	1 412
车辆绕z轴转动惯量I_z /（kg·m²）	1 536
前轮侧偏刚度C_f/（N·rad^-1）	-114 592
后轮侧偏刚度C_r/（N·rad^-1）	-114 592
质心到前轴距离l_a/m	1.015
质心到后轴距离l_b/m	1.895
车辆前轴长度t_f/m	1.675
车辆后轴长度t_r/m	1.675

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