طراحی مانور اجتناب از برخورد با خودروی منحرف مسیر مخالف به کمک کنترل پیش‌بین

نوع مقاله : مقاله پژوهشی

نویسندگان

دانشکده مهندسی مکانیک، دانشگاه صنعتی خواجه نصیرالدین طوسی، تهران، ایران

چکیده

انحراف به چپ در مسیرهای دوطرفه، از شرایط حساسی است که می‌تواند سبب برخورد شدید خودروها از روبرو شود. بدلیل تلفات زیاد این تصادفات، ارائه‌ی سیستم‌های هوشمند هدایت خودرو در چنین شرایطی ضرورت دارد و مورد توجه نبوده است. مقاله‌ی حاضر، به طراحی مسیر ایمن و مانورپذیر عدم برخورد با خودروی منحرفی از مسیر روبرو می‌پردازد. رویکرد اصلی، استفاده از کنترل پیش‌بین با افق 2 ثانیه و مدل پیش‌بین خطی است که حول شرایط کاری، تطابق خوبی با رفتار غیرخطی دارد. برای پیش‌بینی حرکت خودروی مهاجم، رویکردی محافظه‌کارانه مدنظر است و حرکت تا افق 0/7 ثانیه، با شتاب جانبی بالایی در دو جهت مدل می‌شود. برای عدم برخورد خودروها، روش نوینی براساس فضاهای اشغالی آینده‌ی خودروی مهاجم ارائه شده، قیدهای اجتناب از برخورد بسادگی مدل‌سازی می‌شوند. هم‌چنین برای تشخیص جهت مناسب مانور اجتنابی، الگوریتمی نوآورانه ارائه شده که در تقابل دور و نزدیک خودروها، معیارهای مختلفی دارد. مجموعه‌ی نهایی، با کنترل فرمان‌پذیری مدل پیش‌بین، مسیر مرجع ایمن خودرو را با شتاب جانبی مقید تولید می‌کند. ارزیابی مجموعه‌ی نهایی با چهار شبیه‌سازی صورت می‌گیرد که تقابل دور و نزدیک و شرایط بحرانی انتخاب جهت را مدل می‌کنند. نتایج، واکنش مناسب الگوریتم را به تغییر جهت‌های ناگهانی و شدید خودروی مهاجم نشان می‌دهد.

کلیدواژه‌ها


عنوان مقاله [English]

Head-on Collision Avoidance Path Planning with Model Predictive Control

نویسندگان [English]

  • Masoud Abdollahi Nia
  • Ali Ghaffari
  • Shahram Azadi
Faculty of Mechanical Engineering, K.N.Toosi University of Technology, Tehran, Iran
چکیده [English]

Due to the high fatalities of head-on accidents, the design of intelligent systems to prevent such severe collisions is essential. In this study, path planning for head-on collision avoidance with a deviated vehicle from the opposite lane has been investigated. The main approach is based on a model predictive controller with 2 seconds of prediction horizon and a linearized prediction model with low errors near the operational conditions. A conservative method is used for lateral motion prediction of the deviated vehicle and based on that, the collision avoidance constraints of the model predictive planner are simply modeled by a new approach. Moreover, a novel method to choose the proper swerve direction of evasive maneuver is proposed. This method is based on keeping the ego vehicle away from dangerous directions and has different criteria for far and close encounters. The final algorithm is capable to control the steering of the prediction model with a constrained lateral acceleration and calculates safe and maneuverable paths for the aforementioned scenario. Four simulations are conducted to validate the algorithm in far and close encountering, and critical conditions of choosing swerve direction. Results show the robustness of the path planner, even to sudden deviations at close distances and with high lateral accelerations.

کلیدواژه‌ها [English]

  • Head-on collision avoidance
  • Path planning
  • Model predictive control
  • Constrained optimization
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