基于单边-逐级引导势场的超车避障研究OA

To effectively avoid obstacle vehicles during lane-changing and overtaking maneuvers,this study proposes a dynamic obstacle avoidance strategy based on a unilateral hierarchical guiding potential field.A unilateral repulsive field for obstacle vehicles is constructed using cubic quasi-uniform B-spline curves to achieve more accurate risk characterization.A dynamic target attractive field is established to pro-vide hierarchical path guidance.Additionally,a waypoint oscillation identification and filtering method is in-troduced to suppress oscillations caused by large simulation steps.For precise trajectory tracking,a feedforward-augmented LQR predictive controller is designed based on a 2-DOF vehicle model.Co-simulation using Matlab/Simulink and CarSim,along with HIL tests,confirms the effectiveness and safety of the proposed strategy.The results show a mean lateral error of less than 0.08 m,an 18%‒25%reduc-tion in key dynamic metrics such as front-wheel steering angle and sideslip angle,and a 10.3%reduction in overtaking distance.