Research on Vehicle Emergency Steering Obstacle Avoidance System Based on Generalized Sigmoid Function

Guo Xiaoyu, Wang Peng, Chen Ning, Xu Xiaomei, Yao Jialing

Nanjing Forestry University, Nanjing 210018） （

Abstract In order to improve efficiency and safety of unmanned vehicle in the maneuver of emergency turning【 】obstacle avoidance, this paper proposes a vehicle emergency turning obstacle avoidance strategy based on generalized Sigmoid function. Firstly, Mittag- Leffler function is introduced based on Sigmoid function and a generalized Sigmoid function is proposed. Then, the influence of the parameter change of generalized Sigmoid function on the obstacle avoidance path is studied, and a new cost function is proposed as an index to select the path when the vehicle is in emergency obstacle avoidance. Then, in order to verify the effect of the generalized Sigmoid function, the paper proposes an improved Stanley trajectory tracker to track the generated emergency obstacle avoidance path. Finally, a three degree of freedom vehicle model is built for simulation. The results show that, compared with the traditional Sigmoid function, the proposed generalized Sigmoid function can not only provide better obstacle avoidance path, but also has better dynamic response effect under the improved Stanley algorithm.

Key words: Emergency steering, Mittag- Leffler function, Sigmoid function, Improved Stanley algorithm

【引用格式】 , , , . Sigmoid [J]. , 2021(8): 7-13.郭晓宇 王芃 陈宁 等 基于广义 函数的车辆紧急转向避障策略研究 汽车技术

GUO X Y, WANG P, CHEN N, et al. Research on Vehicle Emergency Steering Obstacle Avoidance System Based on Generalized Sigmoid Function[J]. Automobile Technology, 2021(8): 7-13.