基于势场理论的路口区域车辆群体安全模型

Intersection Vehicle Group Safety Model Using Potential Field Theory

摘要:

群体安全是车路协同环境下智能网联汽车研究的重要组成部分。在具有强结构和弱规则特性的路口区域，车辆行驶的群体安全表征可以提高路口区域安全性。首先，基于势场理论构建车辆势能场模型，通过边界势能、车辆势能、速度势能对单一车辆行为进行安全泛化表征；然后，通过势能场密度等高线分布特性构建群体车辆安全特征参数和边界范围；最后，采用自然驾驶数据进行虚拟仿真，结果显示，路口区域直行、左转、右转等场景下的车辆群体安全势能阈值为2 500，并且安全势能周期性变化规律与交通信号相位变化规律一致，表明所建模型可以准确表征路口区域群体车辆的行为和安全状态，从而验证了路口区域车辆群体安全模型的正确性与有效性。

Abstract:

Group safety is an important part of intelligent connected vehicle research in the vehicle-infrastructure cooperation environment. In the intersection area with strong structure and weak rule characteristics， the group safety characterization of vehicle driving can improve the safety of the intersection area. Firstly， the vehicle potential field model is constructed based on potential field theory， and the safety generalized characterization of individual vehicle driving behaviors in the intersection area is represented by boundary potential energy， vehicle potential energy， and speed potential energy； then the parameters and boundary range of group vehicle safety characteristics in the intersection area are constructed based on contour distribution characteristics of the potential energy field density； finally， through the simulation of natural driving data， the results indicate that the threshold value of the safety potential energy of the vehicle group in the straight forward， left turn， right turn scenarios is 2500， and the periodic change law of group safety potential energy is consistent with the phase change law of traffic signals， indicating that the model can accurately represent the behavior and safety state of the intersection vehicles， thus verifying the correctness and effectiveness of the intersection vehicle group safety model.