基于优化人工势场法的智能车辆编队避障策略研究

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主题词：智能车辆 编队控制人工势场 莱维飞行队形异构变换中图分类号：U461 文献标志码：A DOI： 10.19620/j.cnki.1000-3703.20250059

Research on the Obstacle Avoidance Strategy of Connected Vehicle Formation Basing on the Optimized Artificial Potential Field Method

Sun Yu1，2 ，CaoManman³，WangQiang？，SunBohua4

Zhejiang University，Hangzhou 3100o;2.Chery New Energy AutomotiveCo.，Ltd.，Wuhu 241002;3.CATARC

IntellgentandConnectedTechnologyCo.，Ltd.，Tianjin3Oo38O;4.NationalKeyLaboratoryofAutomotiveChassis Integration and Bionics，Jilin University，Changchun 130025）

【Abstract】Inorder toovercome thecollsionandstabilityissesof theconnectedvehicle formationin dynamic， uncertainandcomplexdriving scenarios，and improvethedrivingsafetyfortheconectedvehicles，anobstacleavoidance strategyfortheconnectedvehicleformationisproposedbasingonoptimizedartificialpotentialfieldmethod.Theobstacle avoidancestrategyframeworkfortheconnectedvehicleformationisdesignedandthevehicleformationcontrolerbasingonthe classicalartificialpotentialfieldmethodisestablished.Onthisbasis，thevehicleformationsearchlogicwithLevi’sflight randomsearchcharacteristicsisproposedtoovercometheparameterlmitationof theincrementalcoeffcientoftractionand repulsioninartificialpotentialfieldmethod，andenhancetheadaptabilityofthevehicleformationtocomplexdriving environment.Theproposedobstacleavoidancestrategyisverifiedbyaco-simulation testing platform.Resultsshowthatthe connectedvehicle formation basingontheoptimizedartificialpotential fieldmethodcanadapttothecomplex driving environment more quickly，and has a shorter vehicle formation obstacle avoidance time.

Key words：Connected Vehicles，Formation Control，Artificial Potential Field，Levy Flight HeterogeneousFormation Transformation

【引用格式】孙羽，曹曼曼，王强，等.基于优化人工势场法的智能车辆编队避障策略研究[J].汽车技术，2025（7）：31-39. SUNY，CAOMM，WANGQ，et al.ResearchontheObstacle Avoidance Strategyof Connected Vehicle Formation Basing ontheOptimizedArtificialPotentialField Method[J].Automobile Technology，2025（7）：31-39.

1前言

一，可以提高车辆集群行驶模式的能源利用效率和车辆燃油经济性，减少对环境的污染1。（剩余12877字）