中文摘要：

针对道路交通环境车辆避障的复杂性,对传统人工势场法进行了改进,将其应用于车辆的避障路径规划;该方法建立了道路边界危险斥力势场模型和障碍物斥力势场模型,并在传统障碍物斥力势场中引入速度因素,车辆在以上两种势场组成的复合场中受到道路边界斥力、障碍物斥力的作用。当达到受力平衡时,通过求解方程可以得到一条安全避障路径;并在避障过程中对车辆实施速度控制。仿真分析结果表明改进后的方法规划出的路径在避障过程中,车辆与障碍物的距离增加至少20 cm,可有效地提高避障的安全性;避障过程中对主车车速进行控制,可使主车的横摆角速度和侧向加速度降低至少20%,有效地提高车辆运行的舒适性和安全性。

英文摘要：

Aiming at the complexity of the obstacle avoidance for the automobile,the traditional artificial potential field method was improved,which is applied to a vehicle obstacle avoidance path planning. This method establishes a road boundary repulsion potential field model and obstacle repulsion potential field model,and introduces the speed factor into the obstacle repulsion potential field of the traditional artificial potential field. The Vehicle in the complex field,which is composed of the prevously described two fields,is subjected to the forces from the road boundary repulsion potential field and obstacle repulsion potential field. When the forses achieve the balance,a safe obstacle avoidance path can be obtained by solving the balanced equation. During the obstacles avoiding,this method also regulates the speed of the vehicle. The simulation results show that the improved method can make the distance between the vehicle and the obstacle increase by at least 20 cm,which can effectively improves the safety. By implementing speed control,it can let vehicle＇s yaw rate and lateral acceleration reduce at least 21%,which effectively improves the safety and comfort of the vehicle.