基于行人位置预测的人车转向避撞路径规划

doi:10.19562/j.chinasae.qcgc.2021.06.011

Abstract

Abstract:

Aiming at the traffic safety problem of pedestrian’s illegal street crossing， leading to frequent human?vehicle collisions， a dynamic programming for vehicle collision avoidance path is performed by adopting the improved artificial potential field method with consideration of the uncertainty of pedestrian behavior. In order to express the direction uncertainty of pedestrians crossing the street illegally， a probability model for the pedestrian’s direction of street crossing based on weighted utility function method is proposed， based on which the location of pedestrian is predicted. Aiming at the steering collision?avoidance trajectory planning of dynamic obstacles and based on the safety distance for avoiding collisions， a kind of variable long axis elliptic obstacle potential energy field with adaptive relative position is proposed， which can plan the collision avoidance path in real time according to the predicted location of dynamic pedestrians. The results of simulation on four working conditions show that the path planning method proposed can effectively plan the safe and smoother obstacle avoidance path according to the predicted location of pedestrians.

Key words: human?vehicle collision avoidance, path planning, improved artificial potential field, pedestrian location prediction, illegal street crossing

Caixia Li,Shaobo Lu,Bohan Zhang,Wenjuan Wu,Jiafeng Lu. Human⁃vehicle Steering Collision Avoidance Path Planning Based on Pedestrian Location Prediction[J].Automotive Engineering, 2021, 43(6): 877-884.

Figures/Tables 17

References 21

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参数	场景1	场景2	场景3	场景4
v_p/（m·s^-1）	0	1.25	1.25	1.25
θ/（°）	静止	30	90	150
v_c/（m·s^-1）	25	25	25	25
x_p（0）/m	50	50	50	50
y_p（0）/m	3	4	3	4
T_cp/s	2	2.09	2	1.92
t=T_cp时，x_p（t）/m	50	50.26	50	47.92
t=T_cp时，y_p（t）/m	3	2.69	0.5	2.8

项目	场景1	场景2	场景3	场景4
固定长半轴/m	15
可变长半轴/m	18.78	22.02	11.85	22.02

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Human⁃vehicle Steering Collision Avoidance Path Planning Based on Pedestrian Location Prediction

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