中文摘要：

基于人工势场的引导策略,通过建立包括车道边界和障碍车的道路危险势场,采用弹性绳模型实现了车辆在高速公路上的车道保持和紧急避障功能。为了保证车辆在高速情形下避障的安全性,在障碍车辆原有势场基础上,在障碍车辆的前后各增加一个引导势场,使车辆能够提前避障,从而避障过程更安全。再结合Carsim仿真,在车辆的路径跟随过程中观察主车的横摆角速度的变化来判断车辆的稳定性。对直道和弯道两种情形进行避障仿真对比分析,结果表明：在障碍车辆前后添加引导势场能提前避障,从而使避障过程更安全。

英文摘要：

Based on the strategy of artificial guiding potential field and by creating the road hazard potential field including that of lane boundary and obstacle vehicles,the elastic band model is used to realize the lane keeping and emergent obstacle avoidance of vehicles on motorway. For assuring the vehicle safety of obstacle avoidance at high speed,on the basis of original potential field of obstacle vehicle,a guiding potential field is added on both front and rear ends of obstacle vehicle to enable host vehicle evades in advance and more safely. Then the change in the yaw rate of host vehicle is observed in the path following process of vehicle by Carsim simulation to judge the stability of vehicle. Finally obstacle avoidance simulation and comparative analysis are conducted on both straight and curved lanes. The results show that adding guiding potential fields on obstacle vehicle can achieve earlier and safer evasive maneuver.