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

Abstract

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

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.

Figures/Tables 18

References 23

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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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Human-Vehicle Cooperative Game Collision Avoidance Based on Asymmetric Potential Fields

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