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            智能車輛的避障研究
            作者:韓璐,馮漢希,唐莉萍
            來源:本站原創
            更新時間:2012/2/3 16:23:00
            正文:
            東華大學信息科學與技術學院,上海 201620
            要:針對工廠車間、碼頭等環境的特點和車輛在避障過程中的特性,提出一種基于安全距離與車輛相對速度的智能車輛避障策略。通過對車輛在轉彎過程中的受力情況以及運動學分析,提出保證車輛不側翻的安全轉彎半徑的計算公式。利用車輛自身速度與障礙物速度以及臨界安全車距的關系構造出避障決策曲面,利用決策曲面確定避障方法,既可以保證智能車輛安全高效地行駛,同時又可以降低算法復雜度。
            關鍵詞:智能車輛;避障;安全距離;轉彎半徑
            Obstacle Avoidance Research for Smart Vehicle
            HAN Lu, FENG Han-xi, TANG Li-ping
            (College of Information Science and Technology, Donghua University, Shanghai 201620, China)
            Abstract: A smart vehicle oriented method is proposed for obstacle avoidance in workshop or pier. Obstacle avoidance route is determined based on safety spacing and relative position calculation. In this scheme, the relation of safety speed and curve radius is presented by kinematic analysis for vehicles in curved track. An obstacle avoidance decision surface is calculated with safety spacing, vehicle and obstacle speed. With obstacle avoidance decision surface, optimized obstacle avoidance route can be obtained for various vehicle speed. The calculation complexity is reduced and high vehicle speed is guaranteed.
            Key words: smart vehicle; obstacle avoidance; safety spacing; curve radius
             
             
             
            參考文獻
            [1]BERTOZZI M, BROGGI A, FASCIOLI A. Vision-based intelligent vehicles: State of the art and perspectives[J]. Robotics and Autonomous systems, 2000, 32: 1-16.
            [2]KARLSSON R, JANSSON J, GUSTAFSSON F. Model-based Statistical Tracking and Decision Making for Collision Avoidance Application[C]// Proceedings of the 2004 American Control Conference. American, Boston , 2004: 3435-3440.
            [3]JULA H, KOSMATOPOULOS E B, IOANNOU P A. Collision Avoidance Analysis for Lane Changing and Merging[J]. IEEE Transactions on Vehicular Technology, 2000, 49(6): 2295-2308.
            [4] INOUE Y, IKEDA K, MIMA H, et al. A collision risk criterion based on imaginary brakes[C]//Proceedings of SICE Annual Conference 2010. Taiwan , Taipei, 2010: 1358-1361.
            [5]SHEN S, HONG L, CONG S. Reliable road vehicle collision prediction with constrained filtering[J]. Signal processing, 2006, 86(11): 3339-3356.
            [6]HILGERT J, HIRSCH K, BERTRAM T, et al. Emergency Path Planning for Autonomous Vehicles Using Elastic Band Theory[C]// 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Japan, Kobe, Port Island,  2003: 1390-1395.
            [7]FERNÁNDEZ LLORCA D, MILANÉS V, ALONSO I P, et al. Autonomous Pedestrian Collision Avoidance Using a Fuzzy Steering Controller[J]. IEEE Transactions on Intelligent Transportation Systems,  2011, 99: 1-12.
            [8]KAEMPCHEN N, SCHIELE B, DIETMAYER K. Situation Assessment of an Autonomous Emergency Brake for Arbitrary Vehicle-to-Vehicle Collision Scenarios[J]. IEEE Transactions on Intelligent Transportation Systems, 2009, 10(4): 678-687.
            [9]MICHELS J, SAXENA A, Ng A Y. High Speed Obstacle Avoidance using Monocular Vision and Reinforcement Learning[C]//Proceedings of the 22nd international conference on Machine learning. USA, New York, 2005: 593-600.
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            [11] 鐘勇, 姚劍鋒, 行進中車輛臨界安全車距的探討[J]. 湖南大學學報(自然科學版), 2001, 28(6): 54-58
             
             
            作者簡介:
            韓璐,東華大學信息科學與技術學院碩士研究生,控制理論與控制工程專業。
             
             
               
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