China Mechanical Engineering ›› 2022, Vol. 33 ›› Issue (15): 1849-1856.DOI: 10.3969/j.issn.1004-132X.2022.15.011

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Avoidance Planning for Intelligent Vehicles in Dilemma Based on Nominal Cost

ZHANG Rongshen1;WANG Yutian1;HU Rongquan1;YANG Lingfang2;HUANG Zhi1   

  1. 1.College of Mechanical and Vehicle Engineering,Hunan University,Changsha,410009
    2.College of Civil Engineering,Hunan University,Changsha,410009
  • Online:2022-08-10 Published:2022-09-01



  1. 1.湖南大学机械与运载工程学院,长沙,410009
  • 通讯作者: 黄智(通信作者),男,1977年生,副教授、博士研究生导师。研究方向为智能驾驶、主动安全和汽车动力学。。
  • 作者简介:张荣坤,男,1997年生,硕士研究生。研究方向为路径规划。。

Abstract:  A nominal cost of conflict injury was developed based on risk avoidance algorithm. Counting the casualty, legislation, ethics and the uncertainty of conflict, the nominal cost model for the involved traffic participants was devised based on ethical survey. Taking the nominal cost expectations as the object and limits of vehicle system as the constraints, the problem of trajectory planning of intelligent vehicles in dilemmas was established. This optimization problem was solved by a hierarchical frame consisting of warm start and numerical optimization. The typical dilemmas were designed, Simulation results verify that the proposed method presents risk avoidance trajectories that are in line with public expectations. 

Key words:  , intelligent vehicle, dilemma, nominal cost, ethics, planning, hierarchical optimization

摘要: 提出了一种基于冲突伤害名义代价的避险规划方法。综合碰撞伤亡代价、法规、伦理和冲突不确定等因素,在伦理调查基础上建立对冲突各方中人的伤害名义代价模型。以名义代价期望为目标函数,车辆物理系统限制为约束条件,构建两难困境下的轨迹规划问题。采用暖启动数值优化的分层优化算法对规划问题求解。设计了两难困境仿真场景,仿真实验表明,提出的方法给出了符合公众预期的避险规划。

关键词: 智能车辆, 两难困境, 名义代价, 伦理, 规划, 分层优化

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