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Path Planning for Vehicle Active Collision Avoidance Based on Virtual Flow Field

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An Erratum to this article was published on 21 February 2022

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Abstract

According to the inherent nature of the fluid that can naturally avoid obstacles, a path planning method for active collision avoidance of autonomous vehicles is presented based on the virtual flow field. Firstly, the mathematical model of the virtual flow field on the road is established by using the theory of hydrodynamics. Then a fifth degree polynomial curve is adopted to construct the virtual hazard area of the obstacle vehicle to prevent the fluid into this area, and it can be easily resized by adjusting the parameters of the lateral and longitudinal safety distance. Finally, Computational Fluid Dynamics (CFD) simulations are performed to quantitative predict the dynamic behavior of the ego vehicle on the straight or curved road and the desired path for active collision avoidance can be determined based on the calculation result of the flow field. The simulation results show that the proposed path planning method takes into account the dynamic characteristics and kinematic constraints of the vehicle, and ensures that the vehicle doesn’t collide with the dynamic and static obstacles on the road.

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Abbreviations

V:

velocity vector of the fluid, m/s

ρ :

density, kg/m3

F b :

body force acting on the fluid element, N

F s :

surface force acting on the fluid element, N

f x :

the component of body force in the x-direction, N

f y :

the component of body force in the y-direction, N

σ xx :

normal stress, N/m2

τ yx :

shear stress, N/m2

a :

acceleration, m/s2

μ :

dynamic viscosity, kg/(m·s)

d :

safety distance in the lateral direction, m

s :

safety distance in the longitudinal direction, m

R :

turning radius of the vehicle, m

C f :

cornering stiffness of the front tire, N/rad

C r :

cornering stiffness of the rear tire, N/rad

l f :

distance from the CG to the front axle, m

l r :

distance from the CG to the rear axle, m

ω r :

yaw rate of the vehicle, rad/s

I z :

yaw moment of inertia, kg·m2

δ f :

steering angle of front wheel, rad

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Acknowledgement

This work was supported by the Fundamental Research Funds for the Central Universities [Grant No. XDJK2019B053], and Open Foundation from Chongqing Key Laboratory of Automotive Active Safety Testing Technology [Grant No. 19AKC8].

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Authors and Affiliations

  1. College of Engineering and Technology, Southwest University, Chongqing, 400715, China

    Jian Liu, Jie Ji & Yue Ren

  2. School of Automotive Studies, Tongji University, Shanghai, 201804, China

    Yanjun Huang

  3. School of Vehicle and Mobility, Tsinghua University, Beijing, 100091, China

    Hong Wang

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  1. Jian Liu
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  2. Jie Ji
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  3. Yue Ren
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  4. Yanjun Huang
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  5. Hong Wang
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Correspondence to Jie Ji.

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Liu, J., Ji, J., Ren, Y. et al. Path Planning for Vehicle Active Collision Avoidance Based on Virtual Flow Field. Int.J Automot. Technol. 22, 1557–1567 (2021). https://doi.org/10.1007/s12239-021-0134-z

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  • DOI: https://doi.org/10.1007/s12239-021-0134-z

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