| 基于有限状态机的智能车辆交叉口行为预测与控制 |
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| 引用本文： | 熊光明,李勇,王诗源.基于有限状态机的智能车辆交叉口行为预测与控制[J].北京理工大学学报,2015,35(1):34-38. |
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| 作者姓名： | 熊光明 李勇 王诗源 |
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| 作者单位： | 北京理工大学机械与车辆学院,北京,100081;北京理工大学机械与车辆学院,北京,100081;北京理工大学机械与车辆学院,北京,100081 |
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| 基金项目： | 国家自然科学基金资助项目(91120015, 91120010) |
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| 摘 要： | 提出一种智能车辆交叉口行为预测与控制方法. 建立交叉口车辆行为预测的有限状态机(FSM)模型,对交叉口其他车辆的行为进行预测. 构建应用于智能车辆的混合状态系统,引入有限状态机模型,结合智能车辆交叉口安全条件运行规则,实现智能车辆离散状态分析及车辆控制. 运用PreScan和Simulink/Stateflow实现交叉口联合仿真. 结果表明,该方法可以使智能车辆安全地通过有其他车辆通行的交叉路口.
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| 关 键 词： | 智能车辆 有限状态机 混合状态系统 交叉口 PreScan |
| 收稿时间： | 2013/12/29 0:00:00 |
Behavior Prediction and Control Method Based on FSM for Intelligent Vehicles in an Intersection |
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| XIONG Guang-ming,LI Yong and WANG Shi-yuan.Behavior Prediction and Control Method Based on FSM for Intelligent Vehicles in an Intersection[J].Journal of Beijing Institute of Technology(Natural Science Edition),2015,35(1):34-38. |
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| Authors: | XIONG Guang-ming LI Yong and WANG Shi-yuan |
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| Institution: | School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | A behavior prediction and control method in an intersection for intelligent vehicles was proposed. A finite state machine (FSM) model was established to predict the behaviors of other vehicles in the intersection. A hybrid state system for an intelligent vehicle was built and the FSM model was used to analyze the district states combined with the safety rules of intelligent vehicles and to control the vehicle under the safety condition. A co-simulation with PreScan and Simulink/Stateflow was conducted. The experiment results show that the intelligent vehicle can safely go through the intersection with other vehicles using the proposed approach. |
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| Keywords: | intelligence vehicle finite state machine(FSM) hybrid state system intersection PreScan |
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