孙羽,曹曼曼,王强,孙博华

• 1:浙江大学
• 2:奇瑞新能源汽车股份有限公司
• 3:中汽智联技术有限公司
• 4:吉林大学汽车底盘集成与仿生全国重点试验室

摘要(Abstract)：

为克服动态、不确定的复杂行车环境带来的车辆编队碰撞与稳定性问题，提高行车安全性，提出了一种基于优化人工势场法的智能车辆编队避障策略。设计了智能车辆编队避障策略框架，建立了基于经典人工势场法的车辆编队控制器，以及具备莱维飞行随机搜索特性的车辆编队搜索逻辑，以克服人工势场法中引力与斥力增量系数设置的局限性，进而增强车辆编队对复杂行车环境的适应能力。采用联合仿真试验平台对所提出的算法进行了验证，结果表明，基于优化人工势场法的智能车辆编队避障能够更加快速地适应较为复杂的行车环境，并具备更短的编队避障时间。

关键词(KeyWords)：

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金重大项目（52394261）;国家自然科学基金（青年基金）项目（52102457）;; 吉林省自然科学基金项目（20220101213JC）;; 长三角科技创新共同体联合攻关项目（2023CSJGG1600）

作者(Author): 孙羽,曹曼曼,王强,孙博华

DOI: 10.19620/j.cnki.1000-3703.20250059

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