Modeling Method Based on Reachable Set for Safety Path in Autonomous Vehicle Obstacle Avoidance

Authors

Cao Kai, 1. School of Traffic & Vehicle Engineering, Shandong University of Technology, Zibo 255000, China;;2. School of Computer and Electronic Information Engineering, Shandong Yingcai University, Jinan 250104, China;
Xiaoxiao Huang, 1. School of Traffic & Vehicle Engineering, Shandong University of Technology, Zibo 255000, China;;
Yu Yun, 1. School of Traffic & Vehicle Engineering, Shandong University of Technology, Zibo 255000, China;;
Liu Chun, 1. School of Traffic & Vehicle Engineering, Shandong University of Technology, Zibo 255000, China;;

Abstract

Abstract: In view of problem in all possible uncertain behavior of vehicle unable existed by the traditional path planning algorithm, a modeling method was proposed which deemed a moving vehicle as a hybrid system switching dynamically between continuous and discrete mode, modeled an optimal trajectory for vehicle obstacle avoidance by using a single security target location, and built a safe state reachable set based on the trajectory beam of multiple security target locations. On this basis, the condition of the inevitable collision of vehicle was analyzed, and the optimal control problem with loose constraints for the vehicle obstacle avoidance was proposed. The simulation results show that the method can not only plan trajectories for vehicle avoiding obstacle, but also infer the reachable range of security state of vehicle,and the predictive power of vehicle state security is enhanced within a future time interval.

Recommended Citation

Kai, Cao; Huang, Xiaoxiao; Yun, Yu; and Chun, Liu (2020) "Modeling Method Based on Reachable Set for Safety Path in Autonomous Vehicle Obstacle Avoidance," Journal of System Simulation: Vol. 28: Iss. 3, Article 4.
Available at: https://dc-china-simulation.researchcommons.org/journal/vol28/iss3/4

First Page

526

Revised Date

2015-04-20

DOI Link

https://doi.org/

Last Page

533

CLC

X913.3;U471.15

Recommended Citation

Cao Kai, Huang Xiaoxiao, Yu Yun, Liu Chun. Modeling Method Based on Reachable Set for Safety Path in Autonomous Vehicle Obstacle Avoidance[J]. Journal of System Simulation, 2016, 28(3): 526-533.