A Safe Distance Model and Algorithm for Active Collision Avoidance Based on Weighted Prediction of Trajectory
[1]ZHANG Sanchuan,MA Xiao.A Safe Distance Model and Algorithm for Active Collision Avoidance Based on Weighted Prediction of Trajectory[J].Journal of Zhengzhou University (Engineering Science),2022,43(03):104-110.[doi:10.13705/j.issn.1671-6833.2022.03.004]
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Journal of Zhengzhou University (Engineering Science)[ISSN
1671-6833/CN
41-1339/T] Volume:
43卷
Number of periods:
2022 03
Page number:
104-110
Column:
Public date:
2022-04-10
- Title:
- A Safe Distance Model and Algorithm for Active Collision Avoidance Based on Weighted Prediction of Trajectory
- Keywords:
- intelligent vehicle; active collision avoidance algorithm; safety distance model; track prediction; active safety
- CLC:
- U461. 91
- DOI:
- 10.13705/j.issn.1671-6833.2022.03.004
- Abstract:
- In order to effectively solve the vehicle-to-vehicle collision problem in the lane change of adjacent vehicles, which could improve the active safety of intelligent vehicles, a lane change trajectory prediction model satisfying both short-term prediction and long-term prediction was constructed by using the weighted fusion of CTRA motion model and quintic polynomial model.Based on this, the lane change safety distance model was established, and an appropriate active collision avoidance algorithm was designed.The results of PreScan/Simulink co-simulation showed that the prediction accuracy of the trajectory weighted fusion model was significantly higher than that of the two basic models, and the absolute deviation of the short-time and long-time model was 0.09 m and 0.18 m in the established lane change simulation condition.The design of safety distance showed that when D≤Dwmin or D≥Dwmax, the vehicle had no collision risk, and when Dwmin
- References:
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Last Update:
2022-05-02