Improved Potential Field-Based Collision Avoidance Control for Autonomous Vehicles
Limiting factors for autonomous vehicle (AV) to be widely used are not only technical, but also psychological. Considering the psychological feelings of drivers during switching manned to unmanned driving status, this paper proposes an algorithm about avoiding collisions combining driver psychological feelings for AVs. The confidence-limit-distance of the driver is experimentally obtained by many real track tests which require the test driver to approach the obstacle as close as possible. The confidence-limit-distance from driver is defined as the distance between the obstacle and the last steering point allowed for the psychological limit of the driver to avoid collisions. Based on Artificial Potential Field (APF), a road potential field is accordingly established to characterize the characteristics and boundary constraints of the real road.