面向智能网联车辆碰撞风险规避的互动速度障碍算法
Reciprocal Velocity Obstacle Algorithm for Collision Risk
Avoidance of Intelligent Connected Vehicles
王顺超，李志斌，曹奇，王秉通，丁红亮
Wang Sunchao, Li Zhibin, Cao Qi, Wang Bingtong, Ding Hongliang
摘要：针对多智能车辆协同驾驶中的动态避碰问题，构建了一种面向智能网联车辆碰撞风险检测与协同避碰路径规划的互动速度障碍算法；通过构建智能网联环境下单冲突车辆、多冲突车辆、瓶颈区冲突车流避碰仿真场景，测试了提出的碰撞风险规避算法的有效性，并与其他避碰算法进行了控制效果对比。研究结果表明：相较于其他对比算法，提出的互动速度障碍算法通过协同冲突车辆的避碰行为可有效降低冲突车辆避碰速度与轨迹波动，可有效规避非线性速度与轨迹冲突车辆间的碰撞冲突，并可避免瓶颈区多车辆碰撞事故与明显车流波动；在瓶颈区大范围车辆冲突中，该算法在协同大规模冲突车辆的避碰行为、降低车辆碰撞风险与运行延误上具有良好性能。
Abstract: A reciprocal velocity obstacle algorithm for collision risk detection and collaborative path planning for the collision avoidance of intelligent connected vehicles was constructed to address the dynamic collision avoidance problem in the collaborative driving of multiple intelligent vehicles. The effectiveness of the proposed collision risk avoidance algorithm was tested and compared with other collision avoidance algorithms by constructing the collision avoidance simulation scenarios of single conflicting vehicle, multiple conflicting vehicles, and conflicting traffic flow in bottleneck areas under an intelligent connected environment. Research results show that compared to other comparative algorithms, the proposed reciprocal velocity obstacle algorithm can effectively reduce collision avoidance velocity and trajectory fluctuations of conflicting vehicles via the collaborative collision avoidance behavior, effectively avoid collision conflicts between vehicles with nonlinear speeds and trajectories conflicting and avoid multiple vehicle collision accidents and obvious traffic flow fluctuations in bottleneck areas. In large-scale vehicle conflicts in bottleneck areas, this algorithm has good performance in coordinating collision avoidance behavior of large-scale conflicting vehicles, reducing vehicle collision risk and operational delays.
关键词：交通控制；避碰路径规划算法；互动速度障碍算法；智能网联车辆；碰撞风险势场
Key words: traffic control; collision avoidance path planning algorithm; reciprocal velocity obstacle algorithm; intelligent connected vehicle; collision risk potential field
来源：交通运输工程学报
发表时间：2023-10-25
检索：孙莎莎
翻译：金辰师
一审：姚美玉
二审：彭莉
三审：罗玲娟
上传发布：姜浩
