Affiliations: State Key Laboratory of Automotive Simulation and Control, Jilin University, Chang chun, Jilin, China
Correspondence:
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Corresponding author. Jianwei Zhang, State Key Laboratory of Automotive Simulation and Control, Jilin University, Chang chun, Jilin, 130022, China. E-mail: beqoxn@163.com.
Abstract: Driverless vehicles interacting with other traffic participants, such as cars, pedestrians and bicycles inevitably will inevitably interact in complex traffic environment. During the interaction, all potential collisions must be avoided to ensure driving safety. Based on the model predictive control, this paper analyzed the active obstacle avoidance algorithm for unmanned vehicles, and proposed a collaborative trajectory planning program for unmanned vehicles with multiple collision and collision management. The coordinated collision avoidance rules based on angle change were used to solve the consistency problem of distributed collision avoidance. The simulation results show that the scheme can effectively solve the multiple collision problems between UAVs.
Keywords: Model predictive control, unmanned vehicle, active obstacle avoidance algorithm, collision control
