In this article, an active collision avoidance based on improved artificial potential field is proposed to satisfy collision avoidance for intelligent vehicle. A longitudinal safety distance model based on analysis of braking process and a lane-changing safety spacing model based on minimum time of lane changing under the constraint of sideslip angle are presented. In addition, an improved artificial potential field method is introduced, which represents the influence of environmental information with artificial force. Simulation results demonstrate the superior performance of the proposed algorithm over collision avoidance for intelligent vehicle.

中文翻译：

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基于改进人工势场模型的智能车辆主动避碰算法研究

本文提出了一种基于改进人工势场的主动避碰方法，以满足智能车辆的避碰要求。提出了基于制动过程分析的纵向安全距离模型和基于侧滑角约束下最小换道时间的换道安全间距模型。此外，还引入了一种改进的人工势场法，用人工力来表示环境信息的影响。仿真结果证明了该算法在智能车辆避碰方面的优越性能。