Intelligent decision-making method for vehicles in emergency conditions based on artificial potential fields and finite state machines  

作　　者：Xunjia Zheng Huilan Li Qiang Zhang Yonggang Liu Xing Chen Hui Liu Tianhong Luo Jianjie Gao Lihong Xia 

机构地区：[1]China Automotive Engineering Research Institute Co.,Ltd.,Chongqing 401122,China [2]School of Intelligent Manufacturing Engineering,Chongqing University of Arts and Sciences,Chongqing 402160,China [3]Department of Information and Intelligence Engineering,Chongqing City Vocational College,Chongqing 402160,China [4]College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400044,China [5]Intelligent Policing Key Laboratory of Sichuan Province,Luzhou 646000,China

出　　处：《Journal of Intelligent and Connected Vehicles》2024年第1期19-29,共11页智能网联汽车（英文）

基　　金：supported by the National Natural Science Foundation of China(Grant No.52102454);the Postdoctoral Science Foundation of China(Grant No.2021M700169);in part by the Natural Science Foundation of Chongqing(Grant No.cstc2021jcyj-msxmX0395);the Special Funding for Postdoctoral Research Projects in Chongqing(Grant No.2021XM3069);the Youth Project of Science and Technology Research Program of Chongqing Education Commission of China(Grant Nos.KJQN202001302 and KJQN202203909);the Natural Science Foundation of Yongchuan District(Grant No.2023yc-jckx20089);the Opening Project of Intelligent Policing Key Laboratory of Sichuan Province(Grant No.ZNJW2023KFQN002).

摘　　要：This study aims to propose a decision-making method based on artificial potential fields(APFs)and finite state machines(FSMs)in emergency conditions.This study presents a decision-making method based on APFs and FSMs for emergency conditions.By modeling the longitudinal and lateral potential energy fields of the vehicle,the driving state is identified,and the trigger conditions are provided for path planning during lane changing.In addition,this study also designed the state transition rules based on the longitudinal and lateral virtual forces.It established the vehicle decision-making model based on the finite state machine to ensure driving safety in emergency situations.To illustrate the performance of the decision-making model by considering APFs and finite state machines.The version of the model in the co-simulation platform of MATLAB and CarSim shows that the developed decision model in this study accurately generates driving behaviors of the vehicle at different time intervals.The contributions of this study are two-fold.A hierarchical vehicle state machine decision model is proposed to enhance driving safety in emergency scenarios.Mathematical models for determining the transition thresholds of lateral and longitudinal vehicle states are established based on the vehicle potential field model,leading to the formulation of transition rules between different states of autonomous vehicles(AVs).

关 键 词：DECISION-MAKING artificial potential field finite state machines emergency conditions autonomous driving 

分 类 号：U46[机械工程—车辆工程] TP39[交通运输工程—载运工具运用工程]