Research On Active Collision Avoidance Path Planning And Control Strategy Considering Pedestrian Trajectory

Recently,automotive active collision avoidance technology has become a hot topic in the research of intelligent driving.Among the collision avoidance objects,pedestrians,as one of independent and vulnerable road users,have independent decision-making and motion capability,which makes their behavior on the road more complicated,thus,the overall difficulty of pedestrian collision avoidance control increases.Although there have been many studies on pedestrian collision control,most of them do not consider the moving characteristics of pedestrians,and the working conditions of longitudinal collision avoidance control are relatively simple.In view of the shortcoming in abovementioned pedestrian collision avoidance control,this paper proposes a path planning algorithm that considers the pedestrian’s trajectory on the road,and designs a pedestrian active collision avoidance system integrating lateral and longitudinal control,the main research work of this paper is as follows:In order to reflect the trajectory of pedestrians crossing the road more realistically,a pedestrian kinematic model based on Markov was established,which is the basis to study the pedestrian characteristics.Aiming at lateral collision avoidance path planning,a path planning method considering pedestrian crossing behavior is proposed.According to the pedestrian trajectory,the improved elastic band method is used to plan the collision avoidance path of the vehicle,and the collision avoidance path is updated through the accessibility analysis of the vehicle and the pedestrian,which improves the safety of the path planning.Comparing the proposed path planning algorithm with RRT algorithm and artificial potential field path planning algorithm in path smoothness and security,it proves the superiority of elastic band algorithm in pedestrian collision avoidance path planning.On the basis of model predictive control and vehicle dynamic model,lateral tracking control are performed on the planned path.And the longitudinal collision avoidance control strategy is analyzed by dividing the vehicle collision avoidance area.According to the avoidance scene,pedestrian position and pedestrian crossing time,the vertical and horizontal control switching strategy of vehicle collision avoidance is proposed,which improves the collision avoidance demand of vehicles under various working conditions.To further verify the effectiveness of the pedestrian collision avoidance control system,a joint simulation experiment platform based on Prescan and Carsim was established.Through the simulation experiments of multiple pedestrian crossing conditions,the system shows good robustness and safety in longitudinal collision avoidance and lateral collision avoidance control.