基于域架构的纵横向结合行人紧急避障系统研究  

Research on Pedestrian Emergency Obstacle Avoidance System Based on Domain Architecture Combining Longitudinal and Transverse Directions

作　　者：南金瑞[1,2] 申哲宇 邹渊 刘宗烁[1] Nan Jinrui;Shen Zheyu;Zou Yuan;Liu Zongshuo(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081;Shenzhen Automotive Research Institute,Beijing Institute of Technology,Shenzhen 518118)

机构地区：[1]北京理工大学,机械与车辆学院,北京100081 [2]北京理工大学,深圳汽车研究院,深圳518118

出　　处：《汽车技术》2024年第10期1-7,共7页Automobile Technology

基　　金：国家重点研发计划项目(2021YFB2500900)。

摘　　要：针对行人横穿场景,提出了一种基于域架构的纵横向结合的紧急避障策略。首先,搭建基于域架构的行人紧急避障系统,通过最大减速度模型和多项式组,拟合纵横向轨迹决策规划方法,并基于采样离散数值计算法,综合考虑避障安全距离、动力学约束和平顺性的成本函数,选取最优轨迹;然后,分别使用双环比例-积分-微分(PID)、线性二次型调节器(LQR)控制方法,实现对纵横向的运动控制;最后,通过PreScan、CarSim和Simulink联合仿真及域架构系统延时分析,验证了该避障系统的适用性,有效提升了道路安全性。An emergency obstacle avoidance strategy based on domain architecture combining longitudinal and transverse directions is proposed in the scenario of pedestrian crossing the street.Firstly,a pedestrian emergency obstacle avoidance system based on domain architecture is built,and the longitudinal and transverse trajectory decision planning method is fitted through the maximum deceleration model and polynomial group.Based on the sampling discrete numerical calculation method,the optimal trajectory solution is selected by the calculation and comparison of cost function that comprehensively considers the obstacle avoidance safety distance,dynamic constraint and smoothness.Then,the double-loop Proportion Integral Differential(PID)and Linear Quadratic Regulator(LQR)are used to control the longitudinal and transverse movements.Finally,the applicability of the obstacle avoidance system is verified through joint simulation of PreScan,CarSim and Simulink,as well as domain architecture system delay analysis.The obstacle avoidance system improves road safety effectively.

关 键 词：电子电气架构 行人避障 纵横向控制 轨迹规划 轨迹跟踪 

分 类 号：U463.61[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]