自动驾驶车辆基于风险场的盲区避障方法

doi:10.13229/j.cnki.jdxbgxb.20241264

摘要/Abstract

摘要：

针对驾驶盲区场景下存在驾驶安全隐患的问题，提出了基于碰撞风险场模型的车辆协同避障规划算法。考虑车-车通信持续性的影响，构建了通信持续性风险场模型，将构建的风险场纳入到路径动态规划算法中，设计了基于通信持续性影响因子的自适应避障安全代价函数。仿真实验结果表明：所提出的基于风险模型的避障规划算法能够准确反映驾驶盲区下的动态风险，提高无人驾驶车辆在极端情况下的安全性。

关键词: 避障规划, 自动驾驶, 车车通信, 风险评估, 动态规划

Abstract:

To address the safety hazards in driving blind spot scenarios， a collaborative obstacle avoidance planning algorithm for vehicles based on a collision risk field model was proposed. Considering the impact of vehicle-to-vehicle communication continuity， a communication continuity risk field model is constructed. This risk field was incorporated into the dynamic path planning algorithm， and an adaptive obstacle avoidance safety cost function based on the communication continuity impact factor was designed. Simulation results demonstrate that the proposed risk model-based obstacle avoidance planning algorithm can accurately reflect dynamic risks in driving blind spots， enhancing the safety of autonomous vehicles in extreme situations.

Key words: obstacle avoidance planning, autonomous driving, vehicle-to-vehicle communication, risk assessment, dynamic programming

中图分类号:

U491.6

佟宁,乔亚星,蒋峻同,王丽智. 自动驾驶车辆基于风险场的盲区避障方法[J]. 吉林大学学报(工学版), 2026, 56(7): 1894-1903.

Ning TONG,Ya-xing QIAO,Jun-tong JIANG,Li-zhi WANG. Obstacle avoidance method for autonomous vehicles based on risk field in blind spot scenarios[J]. Journal of Jilin University(Engineering and Technology Edition), 2026, 56(7): 1894-1903.

图/表 10

图1

图2

图3

表1

表2

风险场参数设置"

参数	数值	描述
$l m a x$ /m	30.451 1	风险场影响最大范围
$l m i n$ /m	5.330 6	以车辆为中心的风险场边界
$δ$ /m	32.970 7	跟车距离
$M 1$ /kg	1 500	产生风险场的重力
$S m a x$ /（m·s^-1）	55.56	车道最大限速
$a$ /m	33.451 1	椭圆的长半轴
$b$ /m	3.5	椭圆的短半轴

表2

图4

图5

图6

图7

图8

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