智能汽车横向避障路径规划与控制研究

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中图分类号：U463.42 文献标志码：A DOI： 10.20104/j.cnki.1674-6546.20250109

Research on Path Planning and Control of Lateral Collision Avoidance forIntelligentVehicle

Tu Ningning， Cao An， Liang Shengping （VOYAHAutomobileTechnologyCo.，Ltd.，Wuhan430056）

【Abstract】Toimprove theefficiencyof lateralcollsionavoidance forintelligent vehicles，apath planning methodof piecewisecubicpolynomialcurveisproposedtoftthelateralaccelerationrelativetolanereferenceline.Theinterventionpath isobtainedanditis trackedthroughtheLinearQuadraticRegulatorcontrolmethod.Thelaneisdirectlytreatedasreference line，which avoids complicated transform between Cartesian coordinates and Frenet coordinates，with lower computationcost. Basedonkinematicsof VCS，thelateralcollsioncanbeidentifiedandcorresponding boundaryconditionofpathplanningcan be generatedeficientlyesides，aspecialfileringsrategyofpotentialcollsionwasproposed，whichbngsamoreccate objectselection.Forscenariosofhighlateral velocity，theweightsoflateralerrorandheadingerorwereoptimized.The corresponding maximum control error can be reduced by 0.1m ，which satisfies the request of collision avoidance and driving comfort.

Keywords：Intelligent vehicle，Lateral collision avoidance，Reference line，Piecewise cubic polynomial curve，LinearQuadratic Regulator （LQR）

1前言

当开放道路上行驶的车辆接近障碍物时，驾驶员可通过制动或者转向完成避障。（剩余8989字）