Design Research on Vehicle Collision Avoidance Based on Artificial Potential Field

Abstract

Vehicle driving safety is the urgent key problem to be solved of automobile independent development while encountering collision avoidance. It is also the premise and one of the necessary conditions of vehicle active safety. A new technique for vehicle collision avoidance was proposed. Based on the artificial potential field theory, the lane potential, the road potential function and the obstacle potential function as well as the velocity potential function of the vehicle were constructed. Then the potential function of the vehicle obstacle avoidance problem was constructed with the three potential functions above. The vehicle obstacle avoidance problem was then converted into an optimization problem. The trajectory of the vehicle in the obstacle avoidance process was obtained by solving the optimal control problem. The simulation results show that the proposed method can solve the collision avoidance problem and provide the lane keeping and lane change problem with theoretical support