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Simulation and field testing of multiple vehicles collision avoidance algorithms | |
Zu, Chaoyue1; Yang, Chao2![]() ![]() | |
发表期刊 | IEEE-CAA JOURNAL OF AUTOMATICA SINICA
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ISSN | 2329-9266 |
2020-07-01 | |
卷号 | 7期号:4页码:1045-1063 |
通讯作者 | Wang, Jian(wangjian591@jlu.edu.cn) |
摘要 | A global planning algorithm for intelligent vehicles is designed based on the A* algorithm, which provides intelligent vehicles with a global path towards their destinations. A distributed real-time multiple vehicle collision avoidance (MVCA) algorithm is proposed by extending the reciprocal n-body collision avoidance method. MVCA enables the intelligent vehicles to choose their destinations and control inputs independently, without needing to negotiate with each other or with the coordinator. Compared to the centralized trajectory-planning algorithm, MVCA reduces computation costs and greatly improves the robustness of the system. Because the destination of each intelligent vehicle can be regarded as private, which can be protected by MVCA, at the same time MVCA can provide a real-time trajectory planning for intelligent vehicles. Therefore, MVCA can better improve the safety of intelligent vehicles. The simulation was conducted in MATLAB, including crossroads scene simulation and circular exchange position simulation. The results show that MVCA behaves safely and reliably. The effects of latency and packet loss on MVCA are also statistically investigated through theoretically formulating broadcasting process based on one-dimensional Markov chain. The results uncover that the tolerant delay should not exceed the half of deciding cycle of trajectory planning, and shortening the sending interval could alleviate the negative effects caused by the packet loss to an extent. The cases of short delay (< 100 ms) and low packet loss (< 5%) can bring little influence to those trajectory planning algorithms that only depend on V2V to sense the context, but the unpredictable collision may occur if the delay and packet loss are further worsened. The MVCA was also tested by a real intelligent vehicle, the test results prove the operability of MVCA. |
关键词 | Collision avoidance intelligent vehicles inter-vehicle communication simulation testing trajectory planning |
DOI | 10.1109/JAS.2020.1003246 |
关键词[WOS] | TRAJECTORY GENERATION ; POTENTIAL FUNCTIONS |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61572229] ; National Natural Science Foundation of China[6171101066] ; Key Scientific and Technological Projects for Jilin Province Development Plan[20170204074GX] ; Key Scientific and Technological Projects for Jilin Province Development Plan[20180201068GX] ; Jilin Provincial International Cooperation Foundation[20180414015GH] |
项目资助者 | National Natural Science Foundation of China ; Key Scientific and Technological Projects for Jilin Province Development Plan ; Jilin Provincial International Cooperation Foundation |
WOS研究方向 | Automation & Control Systems |
WOS类目 | Automation & Control Systems |
WOS记录号 | WOS:000545416200012 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/40084 |
专题 | 多模态人工智能系统全国重点实验室_平行智能技术与系统团队 |
通讯作者 | Wang, Jian |
作者单位 | 1.Jilin Univ, Coll Comp Sci & Technol, Changchun 130012, Peoples R China 2.Jiangsu XCMG Construct Machinery Res Inst Ltd, Xuzhou 221004, Jiangsu, Peoples R China 3.Jilin Univ, Minist Educ, Coll Comp Sci & Technol, Key Lab Symbol Computat & Knowledge Engn, Changchun 130012, Peoples R China 4.Chongqing Xibu Automobile Proving Ground Manageme, Chongqing 404100, Peoples R China 5.State Grid JIBEI Elect Power Co Ltd, Management Training Ctr, Beijing, Peoples R China 6.Cranfield Univ, Adv Vehicle Engn Ctr, Cranfield MK43 0AL, Beds, England 7.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
推荐引用方式 GB/T 7714 | Zu, Chaoyue,Yang, Chao,Wang, Jian,et al. Simulation and field testing of multiple vehicles collision avoidance algorithms[J]. IEEE-CAA JOURNAL OF AUTOMATICA SINICA,2020,7(4):1045-1063. |
APA | Zu, Chaoyue,Yang, Chao,Wang, Jian,Gao, Wenbin,Cao, Dongpu,&Wang, Fei-Yue.(2020).Simulation and field testing of multiple vehicles collision avoidance algorithms.IEEE-CAA JOURNAL OF AUTOMATICA SINICA,7(4),1045-1063. |
MLA | Zu, Chaoyue,et al."Simulation and field testing of multiple vehicles collision avoidance algorithms".IEEE-CAA JOURNAL OF AUTOMATICA SINICA 7.4(2020):1045-1063. |
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