Abstract: Inspired by the artificial potential field modeling in the robot path controlling, based on the method proposed by Wu Jingkai et al the paper proposes a control mechanism of vehicles avoidance obstacle. A dynamic target location for vehicle is defined based on the stop-the-horizon, and then the road and obstacle potential field are built based on principles of artificial potential field modeling. Here a Bezier curve model is used to fit vehicle moving trajectory and a chained method is used to transform the kinematic model of the vehicle into a chained one, so that the purposes designing the simple system control model are realized. The simulation control experiment shows that the proposed control algorithm has a better trajectory tracking control effect and global stability to vehicle maneuver driving on curved road.

Key words: moving target position, obstacle avoidance control, trajectory tracking, artificial potential

摘要： 受机器人基于人工势场的路径控制方法的启发，在吴镜开等提出方法的基础上，提出了车辆避障控制机制。定义了基于停车视距的车辆行驶动态目标位置；依据人工势场建模原理构建道路和障碍物势场；为了平滑车辆行驶路线，采用了贝塞尔（Bezier）曲线车辆轨迹拟合的方法；针对车辆系统是典型的非完整控制系统，将车辆运动学模型转换为链式系统模型，实现相对简化系统控制设计目的。仿真控制实验说明这种方法对车辆避障控制具有较好的轨迹跟踪效果和全局稳定性。

关键词: 动态目标位置, 避障控制, 轨迹跟踪, 人工势场