基于行人位置预测的人车转向避撞路径规划  

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

作　　者：李彩霞[1] 卢少波[1,2] 张博涵 吴文娟[1] 陆嘉峰 Li Caixia;Lu Shaobo;Zhang Bohan;Wu Wenjuan;Lu Jiafeng(School of Automotive Engineering,Chongqing University,Chongqing 400040;Chongqing University,State Key Laboratory of Mechanical Transmission,Chongqing 400040)

机构地区：[1]重庆大学汽车工程学院,重庆400040 [2]重庆大学,机械传动国家重点实验室,重庆400040

出　　处：《汽车工程》2021年第6期877-884,共8页Automotive Engineering

基　　金：国家自然科学基金(51675066和51005256)资助。

摘　　要：针对行人违规过街导致人车碰撞事故频发的交通安全问题,采用改进人工势场法并考虑行人行为的不确定性,对车辆避撞路径进行动态规划。为表达行人违规过街时的方向不确定性,提出一种基于加权效用函数法的行人过街方向概率模型,并以此为基础预测行人位置。针对动态障碍的转向避撞轨迹规划,以避撞安全距离为基础,提出一种相对位置自适应的变长轴椭圆障碍势能场,可根据动态行人的预测位置实时规划避撞路径。在4种工况下进行了仿真对比分析,结果表明:所提出的路径规划方法可根据行人的预测位置,有效地规划出更平滑的安全避障路径。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.

关 键 词：人车避撞 路径规划 改进人工势场 行人位置预测 违规过街 

分 类 号：U463.6[机械工程—车辆工程]