基于毫米波雷达的无人驾驶电动汽车换道动态避障控制方法  

Dynamic Obstacle Avoidance Control Method for Lane Changing in Unmanned Electric Vehicles Based on Millimeter Wave Radar

作　　者：张雪敏[1] ZHANG Xuemin(Department of Basic,Xi'an Siyuan University,Xi'an 710038,China)

机构地区：[1]西安思源学院基础部,西安710038

出　　处：《计算机测量与控制》2024年第9期193-199,共7页Computer Measurement &Control

摘　　要：无人驾驶电动汽车在换道行驶中,难以细致地衡量道路中障碍物的移动状态,从而导致规划后的避障路线不够准确,可能会发生交通事故;对此,提出基于毫米波雷达的无人驾驶电动汽车换道动态避障控制方法;利用电动汽车内置的传感器设备,检测无人驾驶电动汽车的行驶状态和道路环境,判断电动汽车是否满足换道条件;综合考虑电动汽车和动态障碍物的移动状态,对无人驾驶电动汽车换道行为进行决策;采用毫米波雷达技术,设计动态避障控制器,根据决策结果规划换道避障路线,生成控制指令,实现无人驾驶电动汽车换道动态避障控制;通过效果测试实验得出结论:毫米波雷达技术的测量误差能够控制在0.1以内,位置控制误差和碰撞风险明显降低,具有更优的控制效果。When autonomous electric vehicles are changing lanes,it is challenging to accurately assess the dynamic state of obstacles on roads,resulting in imprecise obstacle avoidance routes and the possibility of traffic accidents.To address this issue,a dynamic obstacle avoidance control method for lane-changing in autonomous electric vehicles based on millimeter-wave radar is proposed.The built-in sensors of the electric vehicle are used to detect the driving status of the autonomous electric vehicle and the road environment,and determine whether the vehicle meets the conditions for lane-changing.The method comprehensively considers the movement states of both the electric vehicle and the dynamic obstacles to make decisions on the lane-changing behavior for the autonomous electric vehicle.Millimeter-wave radar is used to design a dynamic obstacle avoidance controller to plan avoidance routes for lane-changing obstacle according to decision results,generating control commands to achieve dynamic obstacle avoidance control during lane-changing for autonomous electric vehicles.Experimental results from effectiveness testing demonstrate that the measurement error of millimeter-wave radar can be controlled within 0.1 mm,significantly reducing position control errors and collision risks,thereby achieving a superior control performance.

关 键 词：毫米波雷达 无人驾驶 电动汽车 汽车换道 动态避障 避障控制 

分 类 号：U461[机械工程—车辆工程]