基于长/短视距多模型自适应交互的高速无人车避障规划研究  

Obstacle Avoidance Planning Based on Multi-Model Adaptive Interaction of Long/short Horizon for High-Speed Unmanned Vehicles

作　　者：刘聪 陈雪梅[1,2] 梁玮 LIU Cong;CHEN Xuemei;LIANG Wei(Institute of Advanced Technology,Beijing Institute of Technology,Ji’nan,Shandong 250307,China;School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学前沿技术研究院,山东济南250307 [2]北京理工大学机械车辆学院,北京100081

出　　处：《北京理工大学学报》2025年第1期42-51,共10页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金青年面上专项类别项目(ZR2024QF004)。

摘　　要：在低附着、高速紧急避障工况下无人驾驶车辆需要充分考虑到路径规划效率和车辆动力学特性,以保障规划的路径满足车辆高速行驶跟踪精度要求.文中针对无人车紧急避障中路径规划与跟踪控制之间存在的耦合干预问题,提出一种基于长/短视距多层融合的高速紧急避障局部路径规划算法.根据不同风险值障碍物分布的密集程度细化障碍物的风险值,分别设计了可跨/绕障碍物群的风险势场和环境风险状态采样空间,从而构建一种基于偏向性采样的长视距局部路径规划算法.提出了一种基于交互式多模型预测控制的短视距局部路径重规划,建立模型概率实时在线更新规则,实现了极限工况下车辆快速行驶的局部路径规划,同时满足计算实时性、避障安全性和跟踪稳定性的路径规划设计需求.仿真试验验证了所提多层融合局部路径规划方法的有效性和优越性.Under the conditions of low adhesion and high-speed emergency obstacle avoidance,the efficiency of path planning and vehicle dynamics characteristics should be fully considered to ensure that the planned path with the requirements of vehicle high-speed tracking accuracy.To solve the problem of coupling intervention between planning path and tracking control in emergency obstacle avoidance of unmanned vehicles,a local path planning algorithm was proposed based on multi-layer integration of long/short horizon for high-speed emer-gency obstacle avoidance.Firstly,the risk values of obstacles were refined according to the density of obstacles with different risk values,and the risk potential fields and environmental risk sampling spaces,being capable for cross/circumnavigate obstacle clusters,were designed respectively,so as to construct a long-horizon local path planning algorithm based on bias sampling.Then,a short-horizon local path replanning was proposed based on interactive multi-model predictive control,and the model probability real-time online update rules were estab-lished,so as to realize the local path planning of rapid driving under extreme conditions,and meet the require-ments of real-time computation,obstacle avoidance safety and tracking stability.Finally,the simulation tests show the effectiveness and superiority of the proposed multi-layer fusion local path planning method.

关 键 词：紧急避障 无人驾驶车辆 多层融合规划 偏向性采样 

分 类 号：U46[机械工程—车辆工程]