自动驾驶电动汽车避障控制算法

电动汽车具有操作简单、可持续发展等优势,因此被广泛应用,而避障作为自动驾驶电动汽车在行驶过程中非常重要的部分,对发展自动驾驶车辆具有重要意义.本文提出一种基于遗传算法(GA)的自主避障控制算法,解决了传统算法只能在横向避障的缺陷.在集群行为规则的基础上,利用运动学和动力学设计对应的三种速度项,同时通过本文所设计的适应度...

Obstacle avoidance control algorithm for self-driving electric vehicles

Electric vehicles have advantages of simple operation and sustainable development, which have been widely used. Obstacleavoidance is a very important part of the autonomous driving of electric vehicles. It is of great significance to the development ofautonomous vehicles. This paper proposes an autonomous obstacle avoidance control algorithm based on the genetic algorithm (GA),which solves the problem that traditional algorithms can only avoid obstacles horizontally. Based on the genetic algorithm and clusterbehavior rules, three corresponding velocity terms are designed by kinematics and dynamics. The obstacle avoidance ability of theproposed algorithm is evaluated by the fitness function designed in this paper. Finally, simulation results of Ubuntu show that the finalfitness is 0. 92, 0. 87 and 0. 8 when the corresponding self-starting speed is 4, 6 and 8 m/ s, respectively. Four of the six fitnessfunctions are exactly 1 (completely collision free). It is concluded that the proposed autonomous obstacle avoidance control algorithm hasadvantages of high stability, simple operation and strong obstacle avoidance ability.