Research on dynamic obstacle avoidance method of autonomous vehicle for moving sub-targets

Liu Hao*；Hashimah Ismail；Nazlin Hanie binti Abdullah

doi:10.64649/yh.eg.issn3078-4794.20260210

Research on dynamic obstacle avoidance method of autonomous vehicle for moving sub-targets

期刊: 《Educational Guide》 DOI:10.64649/yh.eg.issn3078-4794.20260210 全文阅读返回期刊

Liu Hao*；Hashimah Ismail；Nazlin Hanie binti Abdullah

Faculty of Engineering and Life Sciences, Universiti Selangor (UNISEL)

摘要

Due to the uncertainty of vehicle position changes during driving, traditional obstacle avoidance methods have many limitations in terms of vehicle obstacle avoidance accuracy, and the actual application effect is difficult to meet the requirements of autonomous driving. In order to solve this problem, the vehicle obstacle avoidance strategy is updated and adjusted in real time in combination with the characteristics of mobile sub targets, so as to better adapt to the changes of uncertainty and make the auto drive system more reliable and accurate in the obstacle avoidance process. Firstly, during the driving process of autonomous vehicles, a comprehensive analysis and planning of the entire path are carried out to obtain global obstacle distribution information on the road segment; Then, establish a moving sub target motion model and uniformly optimize parameters and variables; Next, design a gradient guided dynamic obstacle avoidance reward function to optimize the accuracy of mobile sub objective decision-making; Finally, generate the optimal obstacle avoidance free path. Through performance comparison testing of the proposed method, the data shows that the method can effectively improve the vehicle’s ability to handle unexpected factors and ensure safe passage of obstacles. The optimization effect is stable and easy to operate.

关键词

autonomous vehicles; moving sub-targets; Dynamic obstacle avoidance; Methodological research

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