【作者】 刘小梅； 田彦涛； 王磊；

【Author】 LIU Xiao-mei~1,TIAN Yan-tao~(1,2),WANG Lei~1 (1.School of Communication Engineering,Jilin University,Changchun 130025,China; 2.Key Laboratory of Bionics Engineering,Ministry of Education,Jilin University,Changchun 130025,China)

【机构】 吉林大学 通信工程学院； 吉林大学 工程仿生教育部重点仿生实验室；

【摘要】 基于混合自动机模型理论对动态环境中的多自主车系统避碰控制进行建模,分别对速度调整、路径调整和速度路径调整相结合的过程进行建模分析,明确控制输入下自主车的模式状态及其切换关系。设计了1种基于模糊逻辑控制的十字路口多车避碰规划方法。将两车行径路线的角度、两者之间的距离以及到达预碰点的时间差作为控制器输入,小车的速度和路径调整角度作为输出,实现自主车安全有效的运行。实验结果验证了控制算法的有效性。更多还原

【Abstract】 Collision avoidance control of multiple autonomous vehicle system in dynamic environment was modeled based on hybrid automaton theory.The speed adjustment,path adjustment,and combination of them were modeled and analyzed respectively.The mode state of autonomous vehicles under control and the switching relationship between them were explicated.Besides,a collision avoidance planning method based on fuzzy logic control in crossroad environment was designed.Let the angle between the paths,the distance and the time difference of arriving the pre-collision point between two vehicles as inputs of the fuzzy controller,and the speed and path adjusting angle as outputs,safe and effective operation of the autonomous vehicles was achieved.Experimental results verify the effectiveness of the control algorithm.更多还原