CN115092183B - Active obstacle avoidance control method and system for vehicle based on potential field force - Google Patents

Active obstacle avoidance control method and system for vehicle based on potential field force Download PDF

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Publication number
CN115092183B
CN115092183B CN202210839777.1A CN202210839777A CN115092183B CN 115092183 B CN115092183 B CN 115092183B CN 202210839777 A CN202210839777 A CN 202210839777A CN 115092183 B CN115092183 B CN 115092183B
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vehicle
host vehicle
coordinate information
obstacle
current
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CN115092183A (en
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李骏
段一戬
杨昌波
蒙艳玫
刘鑫
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Dongfeng Liuzhou Motor Co Ltd
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Dongfeng Liuzhou Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a vehicle active obstacle avoidance control method and system based on potential field force, comprising the following steps: when an obstacle vehicle drives into the front area of a lane where a host vehicle is located and the host vehicle falls into a local minimum point, acquiring first coordinate information corresponding to the host vehicle and second coordinate information corresponding to the obstacle vehicle in real time; according to a preset potential field force prediction algorithm, combining the first coordinate information and the second coordinate information, calculating to obtain a first potential field force corresponding to the host vehicle, and controlling the host vehicle to travel to a virtual target point by utilizing the first potential field force; the first coordinate information is the coordinate information of the central point of the host vehicle, and the second coordinate information is the coordinate information of the central point of the obstacle vehicle. The method and the device calculate the first potential field force for controlling the host vehicle to travel to the virtual target point based on the coordinate information of the host vehicle and the coordinate information of the obstacle vehicle which drives into the area in front of the lane where the host vehicle is located, thereby overcoming the local minimum point and improving the traveling safety.

Description

Active obstacle avoidance control method and system for vehicle based on potential field force
Technical Field
The invention relates to the technical field of vehicle obstacle avoidance control, in particular to a vehicle active obstacle avoidance control method and system based on potential field force.
Background
With the development of intelligent technology, unmanned vehicles or automatic driving vehicles capable of automatically planning a driving path, deciding and controlling a vehicle to travel along the planned path have been developed. In complex dynamic traffic environments, the driving safety of unmanned vehicles or autonomous vehicles is currently the most challenging focus of research.
However, the unmanned vehicle based on the traditional artificial potential field method cannot obtain global road condition information, so that the unmanned vehicle can only perform next movement according to the currently obtained information, and the unmanned vehicle is often caused to fall into a local minimum point, the safety risk that the target is not reachable, or the unmanned vehicle cannot bypass the obstacle well. Based on the method, the active obstacle avoidance performance of the unmanned vehicle based on the artificial potential field method is improved by introducing the vehicle safety distance, and the occurrence probability of problems such as local minimum points is reduced to a certain extent. However, when the obstacle vehicle quickly and laterally changes lanes and drives into the front of the unmanned vehicle, the repulsive force and the attractive force applied by the main vehicle are collinear, and the repulsive force is continuously increased, so that the preset vehicle safety distance and the transition distance cannot completely eliminate the risk of sinking into local minimum points, thereby causing serious potential safety hazards.
Disclosure of Invention
The invention provides a vehicle active obstacle avoidance control method and system based on potential field force, which overcome the problem of local minimum points, and improve the accuracy of vehicle active obstacle avoidance control, thereby optimizing the safety performance of the vehicle.
In order to solve the technical problems, an embodiment of the present invention provides a vehicle active obstacle avoidance control method based on potential field force, including:
when an obstacle vehicle drives into a front area of a lane where a host vehicle is located and the host vehicle falls into a local minimum point, acquiring first coordinate information corresponding to the host vehicle and second coordinate information corresponding to the obstacle vehicle in real time;
according to a preset potential field force prediction algorithm, combining the first coordinate information and the second coordinate information, calculating to obtain a first potential field force corresponding to the host vehicle, and controlling the host vehicle to run to a virtual target point by utilizing the first potential field force;
the first coordinate information is the coordinate information of the central point of the host vehicle, and the second coordinate information is the coordinate information of the central point of the obstacle vehicle.
When the obstacle vehicle drives into the front area of the lane where the host vehicle is located and the host vehicle falls into the local minimum point, the embodiment of the invention calculates the first potential field force for controlling the host vehicle to drive to the virtual target point based on the first coordinate information corresponding to the host vehicle and the second coordinate information corresponding to the obstacle vehicle, which are acquired in real time, so that the host vehicle gets rid of the local minimum point and smoothly bypasses the obstacle vehicle, thereby improving the driving safety of the vehicle and avoiding the risk of traffic accidents.
As a preferred solution, the method includes calculating, according to a preset potential field prediction algorithm, a first potential field force corresponding to the host vehicle by combining the first coordinate information and the second coordinate information, and controlling the host vehicle to travel to a virtual target point by using the first potential field force, where the method specifically includes:
according to the space geometrical relationship, combining the first coordinate information and the second coordinate information, determining third coordinate information corresponding to the virtual target point, and calculating to obtain the distance between the center point of the host vehicle and the virtual target point according to the first coordinate information and the third coordinate information;
according to a preset potential field force prediction algorithm, combining the distance between the center point of the host vehicle and the virtual target point to calculate and obtain the first potential field force corresponding to the host vehicle;
and controlling the host vehicle to travel to the virtual target point by using the first potential field force.
According to the preferred scheme of the embodiment of the invention, the third coordinate information corresponding to the virtual target point serving as the end point of the obstacle avoidance path of the host vehicle is determined based on the first coordinate information corresponding to the host vehicle and the second coordinate information corresponding to the obstacle avoidance vehicle, and then the first potential field force is predicted according to the distance between the central point of the host vehicle and the virtual target point, so that the host vehicle moves towards the virtual target point under the guidance control of the first potential field force, the obstacle avoidance vehicle is further smoothly bypassed, and the problem of trapping in the local minimum point is solved.
As a preferable solution, the judging that the host vehicle falls into the local minimum point specifically includes:
when the obstacle vehicle drives into the front area of the lane where the host vehicle is located, acquiring a first potential energy corresponding to the host vehicle at present and a second potential energy corresponding to the host vehicle at the next moment, and judging whether the first potential energy is smaller than the second potential energy; the first potential energy is obtained by combining the first road dangerous potential energy, the first road gravitational potential energy and the first obstacle vehicle dangerous potential energy corresponding to the current host vehicle, and the second potential energy is obtained by combining the second road dangerous potential energy, the second road gravitational potential energy and the second obstacle vehicle dangerous potential energy corresponding to the host vehicle at the next moment;
if yes, determining that the current host vehicle falls into a local minimum point;
if not, determining that the current host vehicle does not sink into the local minimum point, and controlling the host vehicle to continue running towards the current running direction.
When the obstacle vehicle drives into the front area of the lane where the host vehicle is located, the speed difference between the host vehicle and the obstacle vehicle is increased and the vehicle distance is reduced, if the host vehicle falls into a local minimum point, the repulsive force and the attractive force born by the host vehicle are collinear and the repulsive force is continuously increased, so that the judging method of the local minimum point based on the vehicle safety distance is not accurate enough, and the occurrence risk of traffic accidents is increased. Therefore, the invention judges whether the potential energy oscillation occurs in the current host vehicle or not by analyzing the magnitude relation between the first potential energy corresponding to the current host vehicle and the second potential energy corresponding to the host vehicle at the next moment, and further rapidly and accurately determines whether the current host vehicle falls into a local minimum point, so as to avoid the situation that the host vehicle cannot timely take active obstacle avoidance control.
As a preferred solution, the active obstacle avoidance control method for a vehicle based on potential field force further includes:
acquiring the longitudinal distance between the host vehicle and the obstacle vehicle in real time, and judging whether the current longitudinal distance is smaller than a preset inter-vehicle safety distance; wherein the longitudinal distance is an absolute value of a difference between a second ordinate in the second coordinate information corresponding to the obstacle vehicle at present and a first ordinate in the first coordinate information corresponding to the host vehicle at present, and the inter-vehicle safety distance is calculated from a current vehicle speed of the host vehicle, a current vehicle speed of the obstacle vehicle, and a vehicle body length of the obstacle vehicle;
if so, calculating to obtain a second potential field force corresponding to the current host vehicle according to a preset real-time potential field force algorithm and according to the current longitudinal distance, the current first coordinate information and the current second coordinate information, and controlling the host vehicle to actively avoid the obstacle by utilizing the second potential field force;
if not, the host vehicle is controlled to continue running towards the current running direction.
When the longitudinal distance between the central point of the host vehicle and the central point of the obstacle vehicle is smaller than the preset safe distance between the vehicles, calculating a real-time second potential field force based on the position distance between the host vehicle and the obstacle vehicle, and controlling the host vehicle to actively avoid the obstacle, so that the host vehicle can have certain lane-changing obstacle-avoiding time. Additionally, according to the current speed of the host vehicle, the current speed of the obstacle vehicle and the length of the body of the obstacle vehicle, the safety distance between the vehicles based on the current host vehicle and the current obstacle vehicle is calculated, instead of directly setting the safety distance between the vehicles to be a fixed value, so that the safety distance between the vehicles is suitable for different types of host vehicles, obstacle vehicles and different running speeds, the accuracy of active obstacle avoidance control is improved, and the occurrence probability of traffic accidents is reduced.
As a preferred solution, according to a preset real-time potential field force algorithm, according to the current longitudinal distance, the current first coordinate information and the current second coordinate information, a second potential field force corresponding to the current host vehicle is calculated, which specifically includes:
according to a preset real-time potential field force algorithm, according to the current longitudinal distance, potential field influence distance, current first coordinate information and current second coordinate information, calculating to obtain road transverse repulsive force, road transverse attractive force and obstacle vehicle transverse repulsive force which are applied to the current host vehicle in the road transverse direction, and road longitudinal repulsive force, road longitudinal attractive force and obstacle vehicle longitudinal repulsive force which are applied to the current host vehicle in the road longitudinal direction;
calculating to obtain the second potential field force corresponding to the current host vehicle according to the road transverse repulsive force, the road transverse attractive force, the obstacle vehicle transverse repulsive force, the road longitudinal attractive force and the obstacle vehicle longitudinal repulsive force;
the potential field influence distance is calculated according to the safety distance between vehicles.
By implementing the preferred scheme of the embodiment of the invention, the second potential field force for controlling the current host vehicle is obtained by analyzing and calculating the road transverse repulsive force, the road transverse attractive force and the obstacle vehicle transverse repulsive force which are applied to the host vehicle in the road transverse direction, and the road longitudinal repulsive force, the road longitudinal attractive force and the obstacle vehicle longitudinal repulsive force which are applied to the road longitudinal direction, so that the optimization of the second potential field force is realized, and the accuracy of the active obstacle avoidance control of the host vehicle is further improved.
In order to solve the same technical problems, the embodiment of the invention also provides a vehicle active obstacle avoidance control system based on potential field force, which comprises:
the data acquisition module is used for acquiring first coordinate information corresponding to the host vehicle and second coordinate information corresponding to the obstacle vehicle in real time when the obstacle vehicle is driven into the front area of the lane where the host vehicle is located and the host vehicle falls into a local minimum point; the first coordinate information is the coordinate information of the central point of the host vehicle, and the second coordinate information is the coordinate information of the central point of the obstacle vehicle;
the first control module is used for calculating a first potential field force corresponding to the host vehicle according to a preset potential field force prediction algorithm by combining the first coordinate information and the second coordinate information, and controlling the host vehicle to travel to a virtual target point by utilizing the first potential field force.
As a preferred solution, the first control module specifically includes:
the data processing unit is used for determining third coordinate information corresponding to the virtual target point according to the space geometric relation and combining the first coordinate information and the second coordinate information, and calculating to obtain the distance between the center point of the host vehicle and the virtual target point according to the first coordinate information and the third coordinate information; according to a preset potential field force prediction algorithm, combining the distance between the center point of the host vehicle and the virtual target point to calculate and obtain the first potential field force corresponding to the host vehicle;
And a first control unit for controlling the host vehicle to travel to the virtual target point by using the first potential field force.
As a preferred solution, the active obstacle avoidance control system for a vehicle based on potential field force further includes:
the judging module is used for acquiring a first potential energy corresponding to the current host vehicle and a second potential energy corresponding to the host vehicle at the next moment when the obstacle vehicle drives into the front area of the lane where the host vehicle is located, and judging whether the first potential energy is smaller than the second potential energy or not; the first potential energy is obtained by combining the first road dangerous potential energy, the first road gravitational potential energy and the first obstacle vehicle dangerous potential energy corresponding to the current host vehicle, and the second potential energy is obtained by combining the second road dangerous potential energy, the second road gravitational potential energy and the second obstacle vehicle dangerous potential energy corresponding to the host vehicle at the next moment; if yes, determining that the current host vehicle falls into a local minimum point; if not, determining that the current host vehicle does not sink into the local minimum point, and controlling the host vehicle to continue running towards the current running direction.
As a preferred solution, the active obstacle avoidance control system for a vehicle based on potential field force further includes:
The second control module is used for acquiring the longitudinal distance between the host vehicle and the obstacle vehicle in real time and judging whether the current longitudinal distance is smaller than a preset safety distance between vehicles or not; wherein the longitudinal distance is an absolute value of a difference between a second ordinate in the second coordinate information corresponding to the obstacle vehicle at present and a first ordinate in the first coordinate information corresponding to the host vehicle at present, and the inter-vehicle safety distance is calculated from a current vehicle speed of the host vehicle, a current vehicle speed of the obstacle vehicle, and a vehicle body length of the obstacle vehicle; if so, calculating to obtain a second potential field force corresponding to the current host vehicle according to a preset real-time potential field force algorithm and according to the current longitudinal distance, the current first coordinate information and the current second coordinate information, and controlling the host vehicle to actively avoid the obstacle by utilizing the second potential field force; if not, the host vehicle is controlled to continue running towards the current running direction.
As a preferred solution, the second control module specifically includes:
the judging unit is used for acquiring the longitudinal distance between the host vehicle and the obstacle vehicle in real time and judging whether the current longitudinal distance is smaller than a preset safety distance between vehicles or not; the longitudinal distance is the absolute value of the difference value between the second ordinate of the second coordinate information corresponding to the obstacle vehicle at present and the first ordinate of the first coordinate information corresponding to the host vehicle at present;
The second control unit is used for calculating and obtaining road transverse repulsive force, road transverse attractive force and obstacle vehicle transverse repulsive force which are applied to the main vehicle in the road transverse direction at present and road longitudinal repulsive force, road longitudinal attractive force and obstacle vehicle longitudinal repulsive force which are applied to the main vehicle in the road longitudinal direction at present according to a preset real-time potential field force algorithm according to the longitudinal distance, potential field influence distance, first coordinate information and second coordinate information at present if the longitudinal distance is smaller than the preset safety distance between vehicles at present; wherein the potential field influence distance is calculated according to the safety distance between vehicles; according to the road transverse repulsive force, the road transverse attractive force, the obstacle vehicle transverse repulsive force, the road longitudinal attractive force and the obstacle vehicle longitudinal repulsive force, calculating to obtain the second potential field force corresponding to the current host vehicle, and controlling the host vehicle to actively avoid obstacles by utilizing the second potential field force;
and the third control unit is used for controlling the host vehicle to continue running towards the current running direction if the current longitudinal distance is greater than or equal to the preset inter-vehicle safety distance.
Drawings
Fig. 1: the first embodiment of the invention provides a flow diagram of a vehicle active obstacle avoidance control method based on potential field force;
fig. 2: the virtual target point provided in the first embodiment of the invention is compared with the position schematic diagram of the host vehicle;
fig. 3: the first embodiment of the invention provides a structural schematic diagram of a vehicle active obstacle avoidance control system based on potential field force.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
referring to fig. 1, in order to provide a vehicle active obstacle avoidance control method based on potential field force according to an embodiment of the present invention, the method includes steps S1 to S2, where each step is specifically as follows:
step S1, when an obstacle vehicle drives into the front area of a lane where a host vehicle is located and the host vehicle falls into a local minimum point, acquiring first coordinate information corresponding to the host vehicle and second coordinate information corresponding to the obstacle vehicle in real time; the first coordinate information is the coordinate information of the central point of the host vehicle, and the second coordinate information is the coordinate information of the central point of the obstacle vehicle.
In the present embodiment, when an obstacle vehicle quickly and laterally enters the front of a host vehicle and the host vehicle falls into a local minimum point, road information, obstacle vehicle information, and host vehicle information are acquired in real time, and coordinate information of a center point of the host vehicle and coordinate information of a center point of the obstacle vehicle are determined according to the obstacle vehicle information and the host vehicle information. The road information includes, but is not limited to, lane width and number of lanes; obstacle vehicle information includes, but is not limited to, the number, size, location, and speed of obstacle vehicles; the host vehicle information includes, but is not limited to, mass of the host vehicle, maximum braking force of individual wheels of the host vehicle, speed of the host vehicle, distance of the host vehicle from the obstacle vehicle, distance of the host vehicle from the road boundary, and angle of the host vehicle relative to the obstacle vehicle.
Preferably, before executing step S1, the determination flow for the local minimum point trapped in the host vehicle specifically includes steps S001 to S003, where each step is as follows:
step S001, when the obstacle vehicle drives into the front area of the lane where the host vehicle is located and the longitudinal distance between the host vehicle and the obstacle vehicle is smaller than the preset vehicle safety distance, acquiring the first potential energy corresponding to the current host vehicle and the second potential energy corresponding to the host vehicle at the next moment, and judging whether the first potential energy is smaller than the second potential energy; the longitudinal distance is the absolute value of the difference value between the second ordinate in the second coordinate information corresponding to the current obstacle vehicle and the first ordinate in the first coordinate information corresponding to the current host vehicle, the first potential energy is obtained by combining the first road dangerous potential energy, the first road gravitational potential energy and the first obstacle vehicle dangerous potential energy corresponding to the current host vehicle, and the second potential energy is obtained by combining the second road dangerous potential energy, the second road gravitational potential energy and the second obstacle vehicle dangerous potential energy corresponding to the host vehicle at the next moment.
In this embodiment, if the first potential energy is smaller than the second potential energy, step S002 is performed; if the first potential energy is not less than the second potential energy, step S003 is executed.
Step S002 determines that the current host vehicle falls into a local minimum point.
Step S003, it is determined that the current host vehicle is not involved in the local minimum point, and the host vehicle is controlled to continue traveling in the current traveling direction.
As an example, when a host vehicle normally travels in the a-lane, an obstacle vehicle in the B-lane ahead of the host vehicle encounters an emergency situation to laterally enter the a-lane, and makes an emergency brake. At this time, the speed difference increases between the obstacle vehicle after lane change and the host vehicle behindThe distance between vehicles is reduced, and the longitudinal distance D between two workshops 0 Less than a predetermined vehicle safety distance D b 。
It should be noted that, since the potential energy oscillation occurs after the host vehicle falls into the local minimum point, by analyzing the first potential energy U corresponding to the current host vehicle d (t) a second potential energy U corresponding to the host vehicle at the next moment d The magnitude relation of (t+deltat) can be used for judging whether potential energy oscillation occurs in the current host vehicle or not, and can be used as a judging basis for judging whether the current host vehicle falls into a local minimum point or not. Based on this, if expression (1) is satisfied, it is determined that the current host vehicle falls into the local minimum point. Wherein, epsilon value is set, wherein epsilon is more than or equal to 0, and the smaller epsilon value is, the more sensitive the judgment of whether the host vehicle falls into a local minimum point is.
U d (t+Δt)-U d (t)≥ε
(1)
Additionally, the longitudinal distance D between the two workshops 0 Can be obtained by referring to formula (2), and the preset vehicle safety distance D b Can be obtained by referring to formula (3). Wherein M is y First coordinate information (M x ，M y ) First ordinate of (2), N y Is the second coordinate information (N x ，N y ) M is the mass of the host vehicle, v 1 V is the speed of the host vehicle 2 To obstruct the speed of the vehicle, F m Maximum braking force for a single wheel of the host vehicle, L w Is the body length of the obstacle vehicle.
D 0 ＝|N y -M y |
(2)
When the mass, speed, maximum braking force of the individual wheels, and speed of the obstacle vehicle information of the host vehicle change, the vehicle safety distance D b And will vary accordingly.
And S2, according to a preset potential field force prediction algorithm, combining the first coordinate information and the second coordinate information, calculating to obtain a first potential field force corresponding to the host vehicle, and controlling the host vehicle to travel to the virtual target point by using the first potential field force.
Preferably, step S2 includes steps S201 to S203, and each step is specifically as follows:
step S201, according to the space geometric relation, combining the first coordinate information and the second coordinate information, determining third coordinate information corresponding to the virtual target point, and according to the first coordinate information and the third coordinate information, calculating to obtain the distance between the center point of the host vehicle and the virtual target point.
In this embodiment, please refer to fig. 2, and determine the virtual target point P by combining the spatial geometrical relationship 1 Corresponding third coordinate position (P x ，P y ). Wherein P is x And P y See equation (4) (5).
P x ＝M x +d
(4)
Wherein M is x First coordinate information (M x ，M y ) The abscissa in (d) is the lane width, M y First coordinate information (M x ，M y ) First ordinate of (2), N y Is the second coordinate information (N x ，N y ) Is shown on the second ordinate of (c).
Please refer to (6), combine with the virtual target point P 1 Corresponding third coordinate position (P x ，P y ) And first coordinate information (M x ，M y ) Calculating to obtain a virtual target point P 1 Distance d from the center point of the host vehicle min 。
Step S202, please refer to equation (7), combining the center point of the host vehicle and the virtual target point P according to a preset potential field force prediction algorithm 1 Distance d between min Calculating to obtain a first potential field force F corresponding to the host vehicle tow . Wherein K is the gain factor of the first potential field force.
F tow ＝Kd min
(7)
Step S203, utilizing the first potential force F tow Controlling the host vehicle to travel to the virtual target point P 1 So that the host vehicle gets rid of the local minimum point and actively withdraws the virtual target point P after getting rid of 1 Smoothly bypasses the obstacle vehicle.
As a preferred scheme, the active obstacle avoidance control method for the vehicle based on the potential field force further comprises steps S3 to S5, wherein the steps are as follows:
step S3, see equation (2), combining the second coordinate information (N) x ，N y ) A second ordinate N of (a) y First coordinate information (M) corresponding to the current host vehicle x ，M y ) First ordinate M of (2) y To obtain in real time the longitudinal distance D between the host vehicle and the obstacle vehicle 0 And see equation (3), in combination with the current vehicle speed v of the host vehicle 1 Current speed v of obstacle vehicle 2 Body length L of obstacle vehicle w Calculating to obtain a longitudinal distance D 0 Then judge the current longitudinal distance D 0 Whether or not it is smaller than a preset inter-vehicle safety distance D b 。
In the present embodiment, if the current longitudinal distance D 0 Less than a preset inter-vehicle safety distance D b Step S4 is executed; if the current longitudinal distance D 0 Not less than a preset inter-vehicle safety distance D b Step S5 is performed.
Step S4, according to a preset real-time potential force algorithm and the current longitudinal distance D 0 Current first coordinate information (M x ，M y ) And current second coordinate information (N x ，N y ) Calculating to obtain a second potential field force F corresponding to the current host vehicle d And utilize the second potential force F d And controlling the host vehicle to actively avoid the obstacle.
Preferably, step S4 includes steps S401 to S403, and each step is specifically as follows:
step S401, according to a preset real-time potential force algorithm and the current longitudinal distance D 0 Potential field influence distance D t Current first coordinate information (M x ，M y ) And current second coordinate information (N x ，N y ) Calculating to obtain the road transverse repulsive force F applied by the current host vehicle in the road transverse direction xr Transverse gravity F of road xatt And obstacle vehicle lateral repulsive force F xrep And a road longitudinal repulsive force F received by the current host vehicle in the road longitudinal direction yr Longitudinal attraction F of road yatt And obstacle vehicle longitudinal repulsive force F yrep The method comprises the steps of carrying out a first treatment on the surface of the Wherein the potential field influence distance Dt is represented by the following formula (8) and is based on the inter-vehicle safety distance D b And (5) calculating to obtain the product.
D t ＝D b +10
(8)
In the present embodiment, the road lateral repulsive force F xr And road longitudinal repulsive force F yr The calculation flow of (1) comprises steps (1) to (2), and the road transverse gravitation F xatt And road longitudinal attraction force F yatt The calculation flow of (1) includes steps (3) to (4) to block the vehicle transverse repulsive force F xrep And obstacle vehicle longitudinal repulsive force F yrep The calculation flow of (1) comprises the steps (5) to (6).
Step (1), please refer to equations (9) (10) (11), respectively obtain the function P of the road lateral dangerous potential energy along with the change of X direction (i.e. lateral) x Function P of road longitudinal dangerous potential energy along with X direction (transverse direction) z And a function P of the road longitudinal risk potential as a function of Y-direction (i.e., longitudinal) y Referring to formula (12), building a road dangerous potential energy field model U r 。
U r ＝-(P x +P y P z )
(12)
Wherein M is x 、M y First coordinate information (M x ，M y ) First abscissa, first ordinate, N y For the second coordinate information (N x ，N y ) Second ordinate of (D) b And Dt is the potential field influence distance, which is the preset safety distance between vehicles.
Step (2), please refer to formulas (13) (14), calculate the road transverse repulsive force F xr And road longitudinal repulsive force F yr 。
Step (3), please refer to formula (15), build a gravitational field model U att 。
Wherein x is r Is the abscissa corresponding to the central line of the lane where the obstacle vehicle is located, D s A range of distances is searched for a forward path of the vehicle.
Step (4), please refer to formulas (16) (17), calculate and analyze to obtain the road transverse gravitation F xatt And road longitudinal attraction force F yatt 。
Step (5), please refer to formulas (18) (19), respectively calculating the lateral coefficient c of the repulsive potential field of the obstacle vehicle 1 And the longitudinal coefficient c of the obstacle vehicle repulsive field 2 Referring to formula (20), establishing a dangerous potential energy value model U of the obstacle vehicle rep 。
Wherein P is t Switching threshold value for dangerous potential energy when the current host vehicle approaches the obstacle vehicle, L w For the length of the body of the obstacle vehicle, N x For the second coordinate information (N x ，N y ) Is shown on the second ordinate of (c).
Step (6), please refer to formulas (21) (22), calculate and analyze to obtain the obstacle vehicle lateral repulsive force F xrep And obstacle vehicle longitudinal repulsive force F yrep 。
Step S402, please refer to formulas (23) (24) (25), and according to road lateral repulsive force F xr Transverse gravity F of road xatt Lateral repulsive force F of obstacle vehicle xrep Longitudinal repulsive force F of road yr Longitudinal attraction F of road yatt And obstacle vehicle longitudinal repulsive force F yrep Calculating to obtain a second potential field force F corresponding to the current host vehicle d 。
F dx ＝F xr +F xatt +F xrep
(23)
F dy ＝F yr +F yatt +F yrep
(24)
Wherein F is dx As a component of the second potential field force in the road transverse direction, F dy Is the component of the second potential field force in the longitudinal direction of the road.
Note that, the calculation formula of the potential energy corresponding to the host vehicle at different positions is shown in equation (26). Wherein, first coordinate information (M) corresponding to a host vehicle at the current time t is acquired x ，M y ) Then combining equations (12) (15) (20) (26), the first potential energy U in step 001 can be calculated d (t); acquiring fourth coordinate information (M) corresponding to the host vehicle at the next time (t+Δt) x4 ，M y4 ) And by M x4 As M x By M y4 As M y Then combining equations (12) (15) (20) (26), the second potential energy U in step 001 can be calculated d (t+Δt)。
U d ＝U r +U att +U rep
(26)
Step S403, utilizing the second potential field force F d And controlling the host vehicle to actively avoid the obstacle.
Step S5, the host vehicle is controlled to continue traveling in the current traveling direction.
Referring to fig. 3, a schematic structural diagram of a vehicle active obstacle avoidance control system based on potential field force according to an embodiment of the present invention includes a data acquisition module 1 and a first control module 2, where each module is specifically as follows:
the data acquisition module 1 is used for acquiring first coordinate information corresponding to the host vehicle and second coordinate information corresponding to the obstacle vehicle in real time when the obstacle vehicle is driven into the front area of the lane where the host vehicle is located and the host vehicle falls into a local minimum point; the first coordinate information is the coordinate information of the central point of the host vehicle, and the second coordinate information is the coordinate information of the central point of the obstacle vehicle;
the first control module 2 is configured to calculate a first potential field force corresponding to the host vehicle according to a preset potential field force prediction algorithm in combination with the first coordinate information and the second coordinate information, and control the host vehicle to travel to the virtual target point by using the first potential field force.
As a preferred solution, the first control module 2 specifically includes a data processing unit 21 and a first control unit 22, where each unit specifically includes:
A data processing unit 21, configured to determine third coordinate information corresponding to the virtual target point according to the spatial geometric relationship by combining the first coordinate information and the second coordinate information, and calculate a distance between the center point of the host vehicle and the virtual target point according to the first coordinate information and the third coordinate information; according to a preset potential field force prediction algorithm, combining the distance between the center point of the host vehicle and the virtual target point, and calculating to obtain a first potential field force corresponding to the host vehicle;
the first control unit 22 is configured to control the host vehicle to travel to the virtual target point using the first potential field force.
As a preferred solution, please refer to fig. 3, a vehicle active obstacle avoidance control system based on potential field force further includes a judging module 3, which specifically includes:
the judging module 3 is used for acquiring first potential energy corresponding to the current host vehicle and second potential energy corresponding to the host vehicle at the next moment when the obstacle vehicle drives into the front area of the lane where the host vehicle is located, and judging whether the first potential energy is smaller than the second potential energy; the first potential energy is obtained by combining first road dangerous potential energy, first road gravitational potential energy and first obstacle vehicle dangerous potential energy corresponding to the current host vehicle, and the second potential energy is obtained by combining second road dangerous potential energy, second road gravitational potential energy and second obstacle vehicle dangerous potential energy corresponding to the host vehicle at the next moment; if yes, determining that the current host vehicle falls into a local minimum point; if not, determining that the current host vehicle does not sink into the local minimum point, and controlling the host vehicle to continue running towards the current running direction.
As a preferred solution, referring to fig. 3, a vehicle active obstacle avoidance control system based on potential field force further includes a second control module 4, where the second control module specifically includes:
the second control module 4 is used for acquiring the longitudinal distance between the host vehicle and the obstacle vehicle in real time and judging whether the current longitudinal distance is smaller than the preset safety distance between vehicles; the longitudinal distance is the absolute value of the difference value between the second ordinate in the second coordinate information corresponding to the current obstacle vehicle and the first ordinate in the first coordinate information corresponding to the current host vehicle, and the inter-vehicle safety distance is calculated by the current speed of the host vehicle, the current speed of the obstacle vehicle and the length of the body of the obstacle vehicle; if so, calculating to obtain a second potential field force corresponding to the current host vehicle according to a preset real-time potential field force algorithm and the current longitudinal distance, the current first coordinate information and the current second coordinate information, and controlling the host vehicle to actively avoid the obstacle by utilizing the second potential field force; if not, the host vehicle is controlled to continue running towards the current running direction.
As a preferred solution, the second control module 4 specifically includes a judging unit 41, a second control unit 42, and a third control unit 43, where each unit specifically includes:
A judging unit 41 for acquiring a longitudinal distance between the host vehicle and the obstacle vehicle in real time, and judging whether the current longitudinal distance is smaller than a preset inter-vehicle safety distance; the longitudinal distance is the absolute value of the difference value between the second ordinate in the second coordinate information corresponding to the current obstacle vehicle and the first ordinate in the first coordinate information corresponding to the current host vehicle;
a second control unit 42, configured to calculate, according to a preset real-time potential field force algorithm, a road transverse repulsive force, a road transverse attractive force, and an obstacle vehicle transverse repulsive force, which are received by the current host vehicle in a road transverse direction, and a road longitudinal repulsive force, a road longitudinal attractive force, and an obstacle vehicle longitudinal repulsive force, which are received by the current host vehicle in a road longitudinal direction, according to the current longitudinal distance, the potential field influence distance, the current first coordinate information, and the current second coordinate information, if the current longitudinal distance is smaller than the preset inter-vehicle safety distance; the potential field influence distance is calculated according to the safety distance between vehicles; according to the road transverse repulsive force, the road transverse attractive force, the obstacle vehicle transverse repulsive force, the road longitudinal attractive force and the obstacle vehicle longitudinal repulsive force, calculating to obtain a second potential field force corresponding to the current host vehicle, and controlling the host vehicle to actively avoid the obstacle by utilizing the second potential field force;
The third control unit 43 is configured to control the host vehicle to continue traveling in the current traveling direction if the current longitudinal distance is equal to or greater than the preset inter-vehicle safety distance.
It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding process in the foregoing method embodiment for the specific working process of the above-described system, which is not described herein again.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the invention provides a vehicle active obstacle avoidance control method and system based on potential field force,
when the obstacle vehicle is driven into the front area of the lane where the host vehicle is located and the host vehicle falls into the local minimum point, the repulsive force and the attractive force borne by the host vehicle are collinear and the repulsive force is continuously increased, so that the local minimum point judging method based on the vehicle safety distance is not accurate enough, and the host vehicle is controlled to drive to the virtual target point according to the preset potential field force prediction algorithm and based on the first coordinate information corresponding to the host vehicle and the second coordinate information corresponding to the obstacle vehicle, which are acquired in real time, so that the host vehicle can quickly get rid of the local minimum point and smoothly bypass the obstacle vehicle, the driving safety of the vehicle is improved, and the occurrence risk of traffic accidents is avoided.
Further, according to the current speed of the host vehicle, the current speed of the obstacle vehicle and the length of the body of the obstacle vehicle, the safety distance between the vehicles based on the current host vehicle and the current obstacle vehicle is calculated, instead of directly setting the safety distance between the vehicles to be a fixed value, so that the safety distance between the vehicles is suitable for different types of host vehicles, obstacle vehicles and different running speeds, the accuracy of active obstacle avoidance control is improved, and the occurrence probability of traffic accidents is reduced.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention, and are not to be construed as limiting the scope of the invention. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without departing from the spirit and principles of the present invention are intended to be included in the scope of the present invention.

Claims (6)

1. The active obstacle avoidance control method for the vehicle based on the potential field force is characterized by comprising the following steps of:
when an obstacle vehicle drives into a front area of a lane where a host vehicle is located and the host vehicle falls into a local minimum point, acquiring first coordinate information corresponding to the host vehicle and second coordinate information corresponding to the obstacle vehicle in real time;
According to a preset potential field force prediction algorithm, combining the first coordinate information and the second coordinate information, calculating to obtain a first potential field force corresponding to the host vehicle, and controlling the host vehicle to run to a virtual target point by utilizing the first potential field force;
the first coordinate information is the coordinate information of the central point of the host vehicle, and the second coordinate information is the coordinate information of the central point of the obstacle vehicle;
acquiring the longitudinal distance between the host vehicle and the obstacle vehicle in real time, and judging whether the current longitudinal distance is smaller than a preset inter-vehicle safety distance; wherein the longitudinal distance is an absolute value of a difference between a second ordinate in the second coordinate information corresponding to the obstacle vehicle at present and a first ordinate in the first coordinate information corresponding to the host vehicle at present, and the inter-vehicle safety distance is calculated from a current vehicle speed of the host vehicle, a current vehicle speed of the obstacle vehicle, and a vehicle body length of the obstacle vehicle;
if so, calculating to obtain a second potential field force corresponding to the current host vehicle according to a preset real-time potential field force algorithm and according to the current longitudinal distance, the current first coordinate information and the current second coordinate information, and controlling the host vehicle to actively avoid the obstacle by utilizing the second potential field force;
If not, controlling the main vehicle to continue running towards the current running direction;
the calculating, according to a preset real-time potential field force algorithm, a second potential field force corresponding to the current host vehicle according to the current longitudinal distance, the current first coordinate information and the current second coordinate information, specifically includes:
according to a preset real-time potential field force algorithm, according to the current longitudinal distance, potential field influence distance, current first coordinate information and current second coordinate information, calculating to obtain road transverse repulsive force, road transverse attractive force and obstacle vehicle transverse repulsive force which are applied to the current host vehicle in the road transverse direction, and road longitudinal repulsive force, road longitudinal attractive force and obstacle vehicle longitudinal repulsive force which are applied to the current host vehicle in the road longitudinal direction;
calculating to obtain the second potential field force corresponding to the current host vehicle according to the road transverse repulsive force, the road transverse attractive force, the obstacle vehicle transverse repulsive force, the road longitudinal attractive force and the obstacle vehicle longitudinal repulsive force;
the potential field influence distance is calculated according to the safety distance between vehicles.
2. The method for controlling active obstacle avoidance of a vehicle based on potential field force according to claim 1, wherein the calculating according to a preset potential field force prediction algorithm by combining the first coordinate information and the second coordinate information to obtain a first potential field force corresponding to the host vehicle, and controlling the host vehicle to travel to a virtual target point by using the first potential field force comprises:
according to the space geometrical relationship, combining the first coordinate information and the second coordinate information, determining third coordinate information corresponding to the virtual target point, and calculating to obtain the distance between the center point of the host vehicle and the virtual target point according to the first coordinate information and the third coordinate information;
according to a preset potential field force prediction algorithm, combining the distance between the center point of the host vehicle and the virtual target point to calculate and obtain the first potential field force corresponding to the host vehicle;
and controlling the host vehicle to travel to the virtual target point by using the first potential field force.
3. The method for actively avoiding the obstacle of the vehicle based on the potential field force as set forth in claim 1, wherein the judging of the main vehicle sinking into the local minimum point is specifically:
When the obstacle vehicle drives into the front area of the lane where the host vehicle is located, acquiring a first potential energy corresponding to the host vehicle at present and a second potential energy corresponding to the host vehicle at the next moment, and judging whether the first potential energy is smaller than the second potential energy; the first potential energy is obtained by combining the first road dangerous potential energy, the first road gravitational potential energy and the first obstacle vehicle dangerous potential energy corresponding to the current host vehicle, and the second potential energy is obtained by combining the second road dangerous potential energy, the second road gravitational potential energy and the second obstacle vehicle dangerous potential energy corresponding to the host vehicle at the next moment;
if yes, determining that the current host vehicle falls into a local minimum point;
if not, determining that the current host vehicle does not sink into the local minimum point, and controlling the host vehicle to continue running towards the current running direction.
4. A potential field force-based active obstacle avoidance control system for a vehicle, comprising:
the data acquisition module is used for acquiring first coordinate information corresponding to the host vehicle and second coordinate information corresponding to the obstacle vehicle in real time when the obstacle vehicle is driven into the front area of the lane where the host vehicle is located and the host vehicle falls into a local minimum point; the first coordinate information is the coordinate information of the central point of the host vehicle, and the second coordinate information is the coordinate information of the central point of the obstacle vehicle;
The first control module is used for calculating a first potential field force corresponding to the host vehicle according to a preset potential field force prediction algorithm by combining the first coordinate information and the second coordinate information, and controlling the host vehicle to travel to a virtual target point by utilizing the first potential field force;
the second control module is used for acquiring the longitudinal distance between the host vehicle and the obstacle vehicle in real time and judging whether the current longitudinal distance is smaller than a preset safety distance between vehicles or not; wherein the longitudinal distance is an absolute value of a difference between a second ordinate in the second coordinate information corresponding to the obstacle vehicle at present and a first ordinate in the first coordinate information corresponding to the host vehicle at present, and the inter-vehicle safety distance is calculated from a current vehicle speed of the host vehicle, a current vehicle speed of the obstacle vehicle, and a vehicle body length of the obstacle vehicle; if so, calculating to obtain a second potential field force corresponding to the current host vehicle according to a preset real-time potential field force algorithm and according to the current longitudinal distance, the current first coordinate information and the current second coordinate information, and controlling the host vehicle to actively avoid the obstacle by utilizing the second potential field force; if not, controlling the main vehicle to continue running towards the current running direction;
Wherein, the second control module specifically includes:
the judging unit is used for acquiring the longitudinal distance between the host vehicle and the obstacle vehicle in real time and judging whether the current longitudinal distance is smaller than a preset safety distance between vehicles or not; the longitudinal distance is the absolute value of the difference value between the second ordinate of the second coordinate information corresponding to the obstacle vehicle at present and the first ordinate of the first coordinate information corresponding to the host vehicle at present;
the second control unit is used for calculating and obtaining road transverse repulsive force, road transverse attractive force and obstacle vehicle transverse repulsive force which are applied to the main vehicle in the road transverse direction at present and road longitudinal repulsive force, road longitudinal attractive force and obstacle vehicle longitudinal repulsive force which are applied to the main vehicle in the road longitudinal direction at present according to a preset real-time potential field force algorithm according to the longitudinal distance, potential field influence distance, first coordinate information and second coordinate information at present if the longitudinal distance is smaller than the preset safety distance between vehicles at present; wherein the potential field influence distance is calculated according to the safety distance between vehicles; according to the road transverse repulsive force, the road transverse attractive force, the obstacle vehicle transverse repulsive force, the road longitudinal attractive force and the obstacle vehicle longitudinal repulsive force, calculating to obtain the second potential field force corresponding to the current host vehicle, and controlling the host vehicle to actively avoid obstacles by utilizing the second potential field force;
And the third control unit is used for controlling the host vehicle to continue running towards the current running direction if the current longitudinal distance is greater than or equal to the preset inter-vehicle safety distance.
5. The active obstacle avoidance control system of a vehicle based on potential field forces of claim 4 wherein said first control module comprises:
the data processing unit is used for determining third coordinate information corresponding to the virtual target point according to the space geometric relation and combining the first coordinate information and the second coordinate information, and calculating to obtain the distance between the center point of the host vehicle and the virtual target point according to the first coordinate information and the third coordinate information; according to a preset potential field force prediction algorithm, combining the distance between the center point of the host vehicle and the virtual target point to calculate and obtain the first potential field force corresponding to the host vehicle;
and a first control unit for controlling the host vehicle to travel to the virtual target point by using the first potential field force.
6. The active obstacle avoidance control system of the vehicle based on potential field forces of claim 4, further comprising:
The judging module is used for acquiring a first potential energy corresponding to the current host vehicle and a second potential energy corresponding to the host vehicle at the next moment when the obstacle vehicle drives into the front area of the lane where the host vehicle is located, and judging whether the first potential energy is smaller than the second potential energy or not; the first potential energy is obtained by combining the first road dangerous potential energy, the first road gravitational potential energy and the first obstacle vehicle dangerous potential energy corresponding to the current host vehicle, and the second potential energy is obtained by combining the second road dangerous potential energy, the second road gravitational potential energy and the second obstacle vehicle dangerous potential energy corresponding to the host vehicle at the next moment; if yes, determining that the current host vehicle falls into a local minimum point; if not, determining that the current host vehicle does not sink into the local minimum point, and controlling the host vehicle to continue running towards the current running direction.
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