自动驾驶汽车在高速公路驾驶中利用基于可达性的轨迹规划避免碰撞

Hadi Raeesi, Alireza Khosravi, Pouria Sarhadi
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引用次数: 0

摘要

随着汽车应用发展到更加智能和自动驾驶的阶段,自动驾驶汽车近年来受到越来越多的关注。本文提出了一种考虑可行性、安全性和乘客接受度的轨迹规划器。这将确保自动驾驶汽车满足交通环境、驾驶能力和驾驶员在避免碰撞过程中的舒适度等约束条件。本文涉及自动驾驶车辆在高速公路上的无碰撞轨迹规划。该问题采用基于可达性的带状规划。根据车辆动力学模型,轨迹可行性由车辆运动可行性集决定。下一步是通过避免碰撞检查将安全约束应用于基本规划器。考虑到该规划器使用的是后退视界策略,因此它在每次规划迭代中都会选择一个安全参数。在规划的每个阶段,可到达车辆集不应与任何障碍物相交。由于制动无法避免碰撞,这种方法包括变道和超车操作,以避免碰撞。最后,利用预期功能安全(SOTIF)标准的知识来验证算法性能。通过在不同车速和不同障碍物干扰下进行车辆测试,验证了不同驾驶风格的轨迹规划器的效率和性能。模拟场景的结果令人满意。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Collision avoidance for autonomous vehicles using reachability-based trajectory planning in highway driving
As vehicle applications have evolved to a more intelligent and self-driving stage, autonomous vehicles have attracted more attention in recent years. This paper proposes a trajectory planner that considers feasibility, safety and passenger acceptance. This will ensure autonomous vehicles satisfy the constraints of the traffic environment, driving ability, and comfort drivers experience during collision avoidance. This paper deals with planning collision-free trajectories for autonomous vehicles on highways. The problem is formulated using reachability-based planning via zonotope. According to the vehicle dynamics model, the trajectory feasibility is determined by the vehicle motion feasibility set. The next step is to apply safety constraints to the base planner by collision avoidance checking. Given that this planner uses a receding horizon strategy, it selects a safe parameter in each planning iteration. At each stage of planning, the set of reachable vehicles should not intersect with any obstacles. Since braking cannot prevent a collision, this approach consists of lane changing and overtaking maneuvers to avoid collisions. Finally, knowledge from the safety of the intended functionality (SOTIF) standard is utilized to verify the algorithm performance. The efficiency and performance of different driving styles of trajectory planners are verified by vehicle tests under different vehicle velocities and different obstacle disturbances. Satisfactory results are obtained from the set of simulated scenarios.
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