Intelligent vehicle space occupation mark potential field model

Abstract

This invention belongs to the field of vehicle control, specifically relating to an intelligent vehicle spatial occupancy marking potential field model, aiming to achieve precise marking and layered control of the vehicle body area and the vehicle distance margin area. It includes a body circle group composed of multiple circles arranged in a single longitudinal column along the vehicle axis, used to cover the area occupied by the vehicle body; a front circle group composed of multiple circles extending forward along the vehicle axis and arranged in a single longitudinal column, used to cover the front vehicle distance margin area; and a rear circle group composed of multiple circles extending backward along the vehicle axis and arranged in a single longitudinal column, used to cover the rear vehicle distance margin area. Based on the potential field function constructed by the body circle group, the front circle group, and the rear circle group within the vehicle's driving plane, the value of the potential field function within the body circle group is greater than its value within the front and rear circle groups, and the value of the potential field function within the front, body, and rear circle groups is greater than its value outside these three groups.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more particularly to a potential field model for spatial occupancy markers in intelligent vehicles. Background Technology

[0002] With the development of intelligent connected vehicle technology, vehicle driving control algorithms are gradually expanding from relying on onboard sensor perception to environmental modeling based on connected information. In intelligent vehicle driving control, to avoid vehicle collisions, it is necessary to accurately mark the spatial areas occupied by the vehicle itself and other vehicles within the algorithm. In existing technologies, the artificial potential field method is often used for path planning and obstacle avoidance control. By constructing a potential field function, the vehicle is made to travel in the direction of low potential energy within the potential field, thereby avoiding collisions with other vehicles.

[0003] Currently, some technical solutions employ circular or elliptical regions to cover the vehicle body and surrounding areas to construct a potential field function. For example, existing patent documents disclose methods that use one or more ellipses to cover the vehicle body area and extend them in front of the vehicle to construct a potential field area. These solutions approximate the vehicle and safety distance by setting elliptical coverage areas, and the constructed potential field function value decreases as the distance increases, thereby achieving obstacle avoidance control. However, these existing technologies have the following shortcomings: First, it is difficult to accurately distinguish between the space occupied by the vehicle body and the vehicle distance margin area, resulting in the potential field function applying the same level of prohibition on intrusion to both the vehicle body area and the vehicle distance area, making differentiated control based on safety levels impossible; second, the circular coverage schemes in existing technologies are mostly schematic settings, without precisely defining the geometric constraints between the inner circles of the circular group, making it difficult to achieve precise coverage of the vehicle body outline; third, it is impossible to ensure strict prohibition of intrusion into the vehicle body while reserving a flexible control space for the vehicle distance area to allow intrusion under special circumstances. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent vehicle space occupancy marking potential field model, which aims to achieve accurate marking and layered control of the vehicle body area and the vehicle distance margin area, thereby taking into account both driving safety and control flexibility.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: This invention provides an intelligent vehicle spatial occupancy marker potential field model, comprising: a vehicle body circle group, which consists of multiple circles arranged in a single longitudinal column along the vehicle body axis to cover the area occupied by the vehicle body; a front circle group, which consists of multiple circles extending forward along the vehicle body axis and arranged in a single longitudinal column to cover the front vehicle clearance margin area; a rear circle group, which consists of multiple circles extending backward along the vehicle body axis and arranged in a single longitudinal column to cover the rear vehicle clearance margin area; and a potential field function, which is constructed based on the vehicle body circle group, the front circle group, and the rear circle group within the vehicle's driving plane, wherein the value of the potential field function within the range of the vehicle body circle group is greater than its value within the ranges of the front circle group and the rear circle group, and the value of the potential field function within the ranges of the front circle group, the vehicle body circle group, and the rear circle group is greater than its value outside the ranges of the vehicle body circle group, the front circle group, and the rear circle group.

[0006] In the body circle group, all circles have the same diameter, and adjacent circles are in an intersecting position. The width of the rectangle enclosing the body is equal to the length of the common chord of the intersection of two adjacent circles, and the four corners of the rectangle are located on the circle at the front end of the body axis and the circle at the rear end of the body axis, respectively.

[0007] In the front circle group, adjacent circles are in an intersecting position relationship, and the diameter of each circle in the front circle group gradually decreases from the direction closer to the vehicle body to the direction farther away from the vehicle body. The circle closest to the vehicle body in the front circle group is in an intersecting position relationship with the circle located at the front of the vehicle body axis in the body circle group.

[0008] In the rear circle group, adjacent circles are in an intersecting position relationship, and the diameter of each circle in the rear circle group gradually decreases from the direction closest to the vehicle body to the direction furthest away from the vehicle body. The circle closest to the vehicle body in the rear circle group is in an intersecting position relationship with the circle located at the rear end of the vehicle body axis in the body circle group.

[0009] The potential field function is composed of the sub-potential field functions established by each circle in the vehicle body circle group, the sub-potential field functions established by each circle in the front circle group, and the sub-potential field functions established by each circle in the rear circle group. The value of the potential field function at any point is the maximum value among the sub-potential field functions.

[0010] For any circle in the vehicle body circle group, the value of the sub-potential field function established by that circle is greater inside the circle than outside the circle, and the gradient of the sub-potential field function established by the circles in the vehicle body circle group is greater than the gradient of the sub-potential field function established by the circles in the front or rear circle group.

[0011] The sub-potential field functions established by each circle in the vehicle body circle group are in the form of exponential functions, while the sub-potential field functions established by each circle in the front and rear circle groups are in the form of hyperbolic tangent functions.

[0012] In the front and rear circular groups, the diameters of each circle decrease in a geometric sequence along the direction away from the vehicle body, and the distance between the centers of each circle also decreases in a geometric sequence.

[0013] The sub-potential functions established by each circle in the front circle group decrease sequentially from the direction closer to the vehicle body to the direction farther away from the vehicle body, and the gradient of the superimposed potential function does not increase monotonically along the extension line of the vehicle body axis.

[0014] The potential field model is configured for multi-vehicle cooperative control in a connected environment. The potential field functions of the other vehicles are used as constraints in the optimization objective of the controlled vehicle to prevent the controlled vehicle from entering the area marked by the body circle group and distance circle group of the other vehicles.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention achieves precise differentiation between the vehicle body area and the vehicle distance margin area by setting up a body circle group, a front circle group, and a rear circle group arranged sequentially along the vehicle body axis, and setting the value of the potential field function within the body circle group to be greater than its value within the front and rear circle groups. Furthermore, by setting the gradient of the sub-potential field function established by the circles in the body circle group to be greater than the gradient of the sub-potential field function established by the circles in the front or rear circle group, the potential field model exerts a stronger repulsive force on behaviors intruding into the vehicle body area and a relatively weaker repulsive force on behaviors intruding into the vehicle distance area. This hierarchical control mechanism ensures that intrusion into the vehicle body area is strictly prohibited, guaranteeing the bottom line requirement for driving safety, while also reserving a flexible control space for intrusion into the vehicle distance area under special circumstances. This avoids problems such as control failure or driving jerking due to excessive conservatism, thus balancing driving safety and control flexibility.

[0016] 2. This invention imposes precise geometric constraints on the vehicle body circular group: all circles in the group have the same diameter, adjacent circles intersect, the width of the rectangle enclosing the vehicle body is equal to the length of the common chord of the intersection of two adjacent circles, and the four corners of the rectangle are located on the circle at the foremost end of the vehicle body axis and the circle at the rearmost end of the vehicle body axis, respectively. This geometric constraint ensures that a set of intersecting circles of equal diameter can accurately cover the entire area of ​​the rectangular vehicle body outline, without any blind spots or redundant overlaps. Compared to the existing technology that uses a single ellipse or randomly arranged circles, this invention achieves precise occupancy marking of the vehicle body space, laying a geometric foundation for the accurate construction of the subsequent potential field function.

[0017] 3. The diameters of the circles in the front and rear circular groups decrease sequentially in a geometric progression away from the vehicle body, and the center-to-center distance of each circle also decreases sequentially in a geometric progression. This geometric progression ensures that the vehicle clearance margin area is densely covered and has a higher potential field value near the vehicle body, while it is sparsely covered and has a lower potential field value further away from the vehicle body, resulting in a potential field distribution characteristic where the potential field gradient monotonically does not increase along the vehicle body axis. This structural design allows the size and shape of the vehicle clearance margin area to be flexibly adjusted according to factors such as vehicle speed and passenger preferences. Personalized configuration can be achieved by changing the common ratio of the geometric progression and the number of circles, overcoming the shortcomings of existing technologies where the vehicle clearance margin area is difficult to flexibly set.

[0018] 4. In this invention, the sub-potential field functions established for each circle in the vehicle body circular group adopt the form of exponential functions, while the sub-potential field functions established for each circle in the front and rear circular groups adopt the form of hyperbolic tangent functions. The exponential function form can produce steep gradient changes, suitable for vehicle body areas where intrusion is strictly prohibited; the hyperbolic tangent function form has smooth gradient transition characteristics, suitable for vehicle distance areas where flexible intrusion is permitted. The combined use of these two function forms ensures both the rapid response capability of the potential field model in key areas and the continuity and differentiability of the overall potential field distribution, which is beneficial for efficient solution in optimization control algorithms, improving computational efficiency and numerical stability. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating the positional layout of the vehicle body and body circular group, the front circular group, and the rear circular group provided in an embodiment of this application. Figure 2 This is a schematic diagram of the potential field function established by a single vehicle body circle according to an embodiment of this application; Figure 3 This is a schematic diagram of the potential field function established by a single front (rear) circle of a vehicle, as provided in an embodiment of this application. Figure 4 This is a schematic diagram of the potential field function established by a vehicle body circle group according to an embodiment of this application; Figure 5 This is a schematic diagram of the potential field function established by the front circle group of a vehicle according to an embodiment of this application; Figure 6 This is a schematic diagram of the potential field function established by the rear circular group of a vehicle according to an embodiment of this application; Figure 7 This is a schematic diagram of an overall potential field function model formed by superimposing the potential field functions established by the vehicle body circle group, the front circle group, and the rear circle group, according to an embodiment of this application. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] This application provides an intelligent vehicle spatial occupancy marker potential field model, including: a vehicle body circle group, which consists of multiple circles arranged in a single longitudinal column along the vehicle body axis to cover the area occupied by the vehicle body; a front circle group, which consists of multiple circles extending forward along the vehicle body axis and arranged in a single longitudinal column to cover the front vehicle distance margin area; a rear circle group, which consists of multiple circles extending backward along the vehicle body axis and arranged in a single longitudinal column to cover the rear vehicle distance margin area; and a potential field function, which is constructed based on the vehicle body circle group, the front circle group, and the rear circle group within the vehicle's driving plane, wherein the value of the potential field function within the range of the vehicle body circle group is greater than the value within the range of the front circle group and the rear circle group, and the value of the potential field function within the range of the front circle group, the vehicle body circle group, and the rear circle group is greater than the value outside the range of the vehicle body circle group, the front circle group, and the rear circle group.

[0022] Through the above configuration, this embodiment divides the vehicle's space into a vehicle body area and a vehicle distance margin area, which are respectively covered by a body circle group, a front circle group, and a rear circle group. The three circle groups are arranged sequentially along the vehicle's axis, forming a complete space occupancy marking system from front to back. Based on this, through a hierarchical design of the potential field function values, the potential field value is maximized within the body circle group, followed by the vehicle distance circle group, and minimized in the outer area, thus initially establishing the foundation for hierarchical control. Compared to the prior art's scheme of using a single ellipse to cover both the vehicle body and vehicle distance areas, this application achieves precise differentiation between the vehicle body area and the vehicle distance area, laying the foundation for subsequent differentiated control.

[0023] In the body circle group, all circles have the same diameter, and adjacent circles are in an intersecting position. The width of the rectangle enclosing the body is equal to the length of the common chord of the intersection of two adjacent circles, and the four corners of the rectangle are located on the circle at the front end of the body axis and the circle at the rear end of the body axis, respectively.

[0024] The circles in the body circle group adopt the same diameter design. Adjacent circles intersect each other, and the width of the rectangle enclosing the body is exactly equal to the length of the common chord of the intersection of two adjacent circles. At the same time, the four corners of the rectangle are located on the first and last circles respectively, ensuring that a set of intersecting circles with the same diameter can accurately cover the entire area of ​​the rectangular body outline. There are no blind spots or redundant overlaps, achieving accurate positioning marking of the body space.

[0025] In the front circle group, adjacent circles are in an intersecting position relationship, and the diameter of each circle in the front circle group gradually decreases from the direction closer to the vehicle body to the direction farther away from the vehicle body. The circle closest to the vehicle body in the front circle group is in an intersecting position relationship with the circle located at the front of the vehicle body axis in the body circle group.

[0026] In the front circular group, the diameter of each circle gradually decreases from near to far from the vehicle body, resulting in a gradual change in coverage density from dense to sparse in the front area. This aligns with the physical requirements of safety distance; that is, the further away from the vehicle body, the lower the required safety margin, and the lower the coverage accuracy can be. Simultaneously, the circle closest to the vehicle body in the front circular group intersects with the foremost circle in the body circular group, achieving a smooth transition between the two groups and ensuring the continuity of the potential field at the boundary.

[0027] In the rear circle group, adjacent circles are in an intersecting position relationship, and the diameter of each circle in the rear circle group gradually decreases from the direction closest to the vehicle body to the direction furthest away from the vehicle body. The circle closest to the vehicle body in the rear circle group is in an intersecting position relationship with the circle located at the rear end of the vehicle body axis in the body circle group.

[0028] Through the above settings, this application configures the rear circular group independently of the front circular group. The diameter of each circle in the rear circular group gradually decreases from near the vehicle body to far away from it, intersecting with the last circle of the vehicle body circular group, thus achieving precise coverage of the rear following distance margin area. It should be noted that while the front and rear circular groups adopt a similar decreasing diameter and intersecting relationship in structure, the number of circles in both groups can be set independently; they can be the same or different (as shown in the figure, the number of circles in the front and rear groups is different). This independently configurable design allows the model to be flexibly adjusted according to different driving scenarios and needs: for example, in highway scenarios, the number of circles in the front circular group can be increased to extend the forward safety distance; in congested urban traffic conditions, the number of circles in the front circular group can be reduced and the number of circles in the rear circular group can be appropriately increased to adapt to the need for frequent starts and stops; in reversing into a parking space scenario, the configuration of the rear circular group can be emphasized. Compared to a fixed symmetrical design, this application allows for a free setting of the number of circles in the front and rear circular groups, thus providing greater flexibility to meet various driving scenarios and personalized needs, and expanding the applicability of the model.

[0029] The potential field function is composed of the sub-potential field functions established by each circle in the vehicle body circle group, the sub-potential field functions established by each circle in the front circle group, and the sub-potential field functions established by each circle in the rear circle group. The value of the potential field function at any point is the maximum value among the sub-potential field functions.

[0030] The total potential function is formed by superimposing the sub-potential functions of each circle, and the maximum value among the sub-potential functions is taken at any point. This superposition method avoids excessive accumulation of potential values ​​between different circles, making the total potential function mainly determined by the sub-potential field of the nearest circle, which is more in line with the physical intuition of "nearest neighbor". At the same time, the maximum value operation ensures the numerical stability of the potential function, avoids the numerical explosion problem that may be caused by summation, and is conducive to efficient solution in optimization control algorithms.

[0031] For any circle in the vehicle body circle group, the value of the sub-potential field function established by that circle is greater inside the circle than outside the circle, and the gradient of the sub-potential field function established by the circles in the vehicle body circle group is greater than the gradient of the sub-potential field function established by the circles in the front or rear circle group.

[0032] The potential field of the vehicle body circular sub-field has a large value inside the circle and a small value outside the circle, with a large gradient. This means that when a vehicle approaches the vehicle body area of ​​another vehicle, the potential field value will rise sharply, generating a strong repulsive force, thus strictly prohibiting intrusion into the vehicle body area and ensuring the minimum requirements for driving safety. In contrast, the gradient of the potential field of the distance circle sub-field is relatively small. When a vehicle approaches the distance area of ​​another vehicle, the potential field value rises gradually, generating a weak repulsive force, allowing intrusion into the distance area in special circumstances (such as emergency obstacle avoidance). This gradient-differentiated design balances safety and control flexibility, solving the technical problem of existing technologies having a single potential field gradient and being unable to control in layers.

[0033] The sub-potential field functions established by each circle in the vehicle body circle group are in the form of exponential functions, while the sub-potential field functions established by each circle in the front and rear circle groups are in the form of hyperbolic tangent functions.

[0034] In the front and rear circular groups, the diameters of each circle decrease in a geometric sequence along the direction away from the vehicle body, and the distance between the centers of each circle also decreases in a geometric sequence.

[0035] The geometric progression design allows for an exponential decrease in the coverage density of the vehicle distance region, aligning with adjustments needed based on factors such as vehicle speed and passenger preferences. Specifically, by altering the common ratio of the geometric progression and the number of circles, the size and shape of the vehicle distance margin region can be flexibly adjusted—a larger common ratio results in a slower decrease in circle diameter and a larger coverage area; more circles extend the vehicle distance region further. This parametric design enables the model to be customized for different vehicle models, driving habits, and speed conditions, overcoming the limitations of existing technologies that struggle to flexibly set the vehicle distance margin region.

[0036] The sub-potential functions established by each circle in the front circle group decrease sequentially from the direction closer to the vehicle body to the direction farther away from the vehicle body, and the gradient of the superimposed potential function does not increase monotonically along the extension line of the vehicle body axis.

[0037] The sub-potential functions established by each circle in the front circle group decrease sequentially from the direction closest to the vehicle body to the direction furthest away from the vehicle body. The gradient of the superimposed potential function monotonically does not increase along the extension line of the vehicle body axis. This constraint ensures the smoothness of the potential field in the longitudinal direction, avoiding local extrema or potential field oscillations, which is beneficial to the convergence and stability of the optimized control algorithm. At the same time, this constraint ensures that the potential function value changes monotonically when the controlled vehicle travels along the vehicle body axis, avoiding the abnormal situation where "the potential field becomes smaller the closer to other vehicles," thus ensuring the rationality and reliability of the control logic.

[0038] The potential field model is configured for multi-vehicle cooperative control in a connected environment. The potential field functions of the other vehicles are used as constraints in the optimization objective of the controlled vehicle to prevent the controlled vehicle from entering the area marked by the body circle group and distance circle group of the other vehicles.

[0039] The following example illustrates the situation where two cars (car A and car B) are traveling in a traffic environment: Car A is equipped with an intelligent driving algorithm, which controls Car A to avoid colliding with or encroaching on the vehicle body area of ​​Car B. Therefore, it is necessary to mark the space occupied by Car B.

[0040] For example, such as Figure 1 As shown, the body outline of car B consists of a length... ,width The rectangular envelope.

[0041] The body round assembly is composed of The car body is round , ,..., Form a group, in which the circle completely covers the rectangle enclosing the vehicle body.

[0042] All circles in the body circle group have the same radius, denoted as . The distance between the centers of adjacent circles is denoted as . According to geometric relationships, the width of the rectangle is equal to the length of the common chord where the two car body circles intersect, and the four corners of the rectangle are located on the foremost circle. And the final circle Above. From this, we can calculate: The front round assembly consists of The rear circular group is composed of several circles. The system consists of several circles. The sequence of circle radii and center distances within each circle group is set as a geometric progression. First, the radius of the smallest circle in the circle group is determined based on the size and shape of the vehicle distance area; that is, the circle furthest from the vehicle body. radius With circle radius And the number of circles in the circle group. In this embodiment, the minimum circle radius of the front circle group is set. Minimum radius of the rear circular group The common ratio of the parameter sequence of the front circle group is set to... The common ratio of the parameter sequence of the rear circle group is The radius sequence and center distance sequence of the front and rear circular groups are calculated using the geometric sequence formula as follows: Front circle radius sequence: Rear circle radius sequence: Sequence of center distances of the front circular group: Sequence of center distances of the rear circular group: Where n represents the ordinal number of the circle in the group.

[0043] After calculating the dimensions and layout of the design circular group, the potential field function of vehicle B can be established accordingly. The sub-potential field function established for each circle in the vehicle body circular group adopts the form of an exponential function, and its expression is: in, The potential field established for a certain circle of a car body. The corresponding number for the circle on the car body. for The distance between the car's position and the center of the circle representing the car's body. , , Parameters for adjusting the shape of the function.

[0044] The sub-potential field functions established by each circle in the front and rear circular groups of the vehicle adopt the hyperbolic tangent function form, and the expression is: ,in Among them, the subscript These respectively indicate that the equation corresponds to the front circle group or the rear circle group of the vehicle. This represents the ordinal number of the circle in the corresponding circle group. for Car position to circle Distance from the center of the circle Represents the corresponding circle The radius. , , , , and The parameters are used to adjust the shape of the potential field function.

[0045] When a total potential field function is formed in the driving plane, the value of the total potential field function at a certain point is selected from the maximum value of each sub-potential field function generated by each circle at that point, that is: in, , , These are the weights of the potential function fields generated by the rear circular group, the body circular group, and the front circular group when forming the total potential function field.

[0046] In this embodiment, the various parameters and weights are set in the intelligent driving control algorithm, and their values ​​are adjusted to ensure that the potential function field meets the requirements. This application provides specific numerical values ​​for reference; for example, vehicle B is a sedan, which can be enclosed in a rectangle with length L = 4m and width W = 1.695m, n t =3,n cir =3,n h =4. Based on this, we can calculate... , ,set up , Calculate , , , , , The parameters of the circle group are as follows: , , , , , , , , , , , , , , , , , , , , It can establish a potential field function that meets the requirements.

[0047] Figure 2 The image shows the potential field function established by a single car body circle. From Figure 2 As can be seen, the exponential function form of the vehicle's circular potential field function realizes a significant difference in function values ​​between the inner and outer regions of the circle, and there is a large gradient value from the outer to the inner circle. The function values ​​are equal at all points inside the circle, indicating that the inner circle is a strictly prohibited area.

[0048] Figure 3 The image shows the potential field function established by a single front (rear) circle of a vehicle. From Figure 3 As can be seen, the hyperbolic tangent function form of the front (rear) circular potential field function realizes the significant difference in function values ​​between the inner and outer regions of the circle. Moreover, the gradient value from the outer to the inner circle is smaller than that of the vehicle body's circular potential field, and the potential field value gradually increases smoothly from the edge of the circle to the center, taking into account both safety and control flexibility.

[0049] Figure 4 The image of the subpotential field function established by the circular components of the vehicle body is shown. From Figure 4 As can be seen, the sub-potential field functions established by the vehicle body circular group achieve a significant difference in function values ​​between the area covered by the vehicle body and the area outside the area, and there is a large gradient value from the outside to the inside of the area. When the potential fields of each vehicle body circular group are superimposed, the maximum value of the potential field function at that point is taken, which ensures the numerical stability of the potential field function and avoids the numerical explosion problem that may be caused by summation, which is conducive to efficient solution in the optimization control algorithm. The function values ​​at all points within the area are equal, indicating that the area covered by the vehicle body is a strictly prohibited area, ensuring the bottom line requirement of driving safety.

[0050] Figure 5 The image of the subpotential field function established by the front circle group is shown. From Figure 5 As can be seen, the sub-potential field functions established by the front circular group achieve a significant difference in function values ​​between the area of ​​vehicle-to-vehicle distance margin and the area outside the region. The gradient value from the outside to the inside of the region is smaller than that of the vehicle body circular potential field. Furthermore, the values ​​of the sub-potential field functions established by each circle in the front circular group decrease sequentially from the direction closer to the vehicle body to the direction farther away from the vehicle body. The gradient of the superimposed potential function along the extension line of the vehicle body axis is monotonically non-increasing, ensuring the smoothness of the potential field in the longitudinal direction and avoiding local extreme points or potential field oscillations, which is beneficial to the convergence and stability of the optimization control algorithm. At the same time, it is ensured that the potential field function value changes monotonically when the controlled vehicle travels along the vehicle body axis, ensuring the rationality and reliability of the control logic. When superimposing the potential fields of each vehicle body circle, the maximum value of the potential field function at that point is taken, ensuring the numerical stability of the potential field function and avoiding the numerical explosion problem that may be caused by summation, which is beneficial to efficient solution in the optimization control algorithm.

[0051] Figure 6 The image of the subpotential field function established by the rear circle group is shown. From Figure 6As can be seen, the sub-potential field function established by the rear circular group of the vehicle achieves a significant difference in function values ​​between the rear vehicle clearance margin region and the outside region. The gradient value from the outside to the inside region is smaller than that of the vehicle body circular potential field. Furthermore, the sub-potential field functions established by each circle in the rear circular group decrease sequentially from the direction closer to the vehicle body to the direction farther away from the vehicle body. The gradient of the superimposed potential function along the extension line of the vehicle body axis is monotonically non-increasing, ensuring the smoothness of the potential field in the longitudinal direction and avoiding local extreme points or potential field oscillations, which is beneficial to the convergence and stability of the optimization control algorithm. Simultaneously, it ensures that the potential field function value changes monotonically when the controlled vehicle travels along the vehicle body axis, guaranteeing the rationality and reliability of the control logic. When superimposing the potential fields of each vehicle body circle, the maximum value of the potential field function at that point is taken, ensuring the numerical stability of the potential field function and avoiding the numerical explosion problem that may be caused by summation, which is beneficial for efficient solution in the optimization control algorithm.

[0052] Figure 7 This shows the overall potential field function image formed by superimposing the potential field functions established by the vehicle body circle group, the front circle group, and the rear circle group. From Figure 7As can be seen, the overall potential field function ensures that the total area covered by the vehicle body circular group, the front circular group, and the rear circular group has a significant difference compared to the function value outside the area. Furthermore, the function value of the vehicle body circular group is greater than the function value of the area covered by the front (rear) circular group. From outside the area to inside, the gradient of the vehicle body circular group function value is significantly greater than the gradient of the front (rear) circular group function value. This ensures the strict safety baseline requirement that the vehicle body area cannot be intruded upon, and guarantees a certain repulsion effect within the vehicle distance margin area. It maintains the vehicle distance under normal circumstances while allowing entry into the vehicle distance margin area in emergencies. The potential field function value is equal within the vehicle body area, achieving the requirement that the entire vehicle body is equally unintrusive. The function value of the area covered by the front (rear) circular group gradually decreases away from the vehicle body, consistent with the characteristic that the further away from the vehicle body, the lower the sensitivity to vehicle distance intrusion. In the overall potential field function, the values ​​at each point within the coverage area of ​​the vehicle body circular group and the front (rear) circular group are the maximum values ​​of the respective sub-potential field functions at that point. This ensures the numerical stability of the potential field function and avoids the numerical explosion problem that may occur during summation, which is beneficial for efficient solution in the optimization control algorithm. The gradient of the potential function of the front (rear) circular group is monotonically non-increasing along the extension line of the vehicle body axis, ensuring the smoothness of the potential field in the longitudinal direction and avoiding local extreme points or potential field oscillations, which is beneficial for the convergence and stability of the optimization control algorithm. At the same time, it ensures that the potential field function value changes monotonically when the controlled vehicle travels along the vehicle body axis, ensuring the rationality and reliability of the control logic. The potential field of the vehicle body circular group is continuous with the potential field of the front (rear) circular group at the boundary. In addition, the number of circles in the front circular group and the number of circles in the rear circular group can be set independently and freely. In this example, the former contains four circles and the latter contains three circles. This feature of independent and free setting can flexibly determine the range of distance requirements in front of and behind the vehicle according to the actual situation and driving needs, improving the universality of the model.

[0053] In the embodiments provided in this application, the constructed potential field model is configured for multi-vehicle cooperative control in a connected environment. The intelligent driving control algorithm of vehicle A uses the potential field function of vehicle B as a constraint term in the optimization objective; that is, when solving for the optimal control input, the potential field function value at vehicle A's current position is included in the cost function. By minimizing the optimization objective, vehicle A will maintain its driving within the region where the potential field function value is smaller, meaning that vehicle A's body will not encroach on the area marked by vehicle B's body circle group and distance circle group, thereby achieving the driving objective of avoiding collisions.

[0054] When multiple intelligent vehicles are driving together, the control algorithm of each vehicle incorporates the potential field functions of the other vehicles into the optimization objective, which enables mutual avoidance between multiple vehicles and ensures that no vehicle intrudes into the vehicle body area and distance margin area of ​​other vehicles, thereby ensuring overall driving safety.

[0055] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0056] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An intelligent vehicle space occupancy signposting potential field model characterized by, include: The vehicle body circle group consists of multiple circles arranged in a single longitudinal row along the vehicle body axis, used to cover the area occupied by the vehicle body; The vehicle has a front circular group, which consists of multiple circles extending forward along the vehicle's axis and arranged in a single longitudinal column, used to cover the vehicle's front clearance margin area; a rear circular group, which consists of multiple circles extending backward along the vehicle's axis and arranged in a single longitudinal column, used to cover the vehicle's rear clearance margin area; and a potential field function, which is constructed based on the vehicle's circular group, the front circular group, and the rear circular group within the vehicle's driving plane, wherein the value of the potential field function within the range of the vehicle's circular group is greater than the value within the range of the front circular group and the rear circular group, and the value of the potential field function within the range of the front circular group, the vehicle's circular group, and the rear circular group is greater than the value outside the ranges of the vehicle's circular group, the front circular group, and the rear circular group. 2.The intelligent vehicle space-occupying marker potential field model according to claim 1, wherein, The diameters of all the circles in the vehicle body circle group are the same, and the adjacent circles are in an intersecting position relationship. The width of the rectangle enclosing the vehicle body is equal to the length of the common chord of the intersection of two adjacent circles, and the four corners of the rectangle are located on the circle at the front end of the vehicle body axis and the circle at the rear end of the vehicle body axis, respectively. 3.The intelligent vehicle space-occupying marker potential field model according to claim 1, wherein, The adjacent circles in the front circle group are in an intersecting position relationship, and the diameter of each circle in the front circle group gradually decreases from the direction closer to the vehicle body to the direction farther away from the vehicle body. The circle closest to the vehicle body in the front circle group is in an intersecting position relationship with the circle located at the front end of the vehicle body axis in the body circle group. 4.The intelligent vehicle space-occupying marker potential field model according to claim 3, wherein, The adjacent circles in the rear circle group are in an intersecting position relationship, and the diameter of each circle in the rear circle group gradually decreases from the direction closer to the vehicle body to the direction farther away from the vehicle body. The circle closest to the vehicle body in the rear circle group is in an intersecting position relationship with the circle located at the rear end of the vehicle body axis in the body circle group.

5. The potential field model for spatial occupancy marking of an intelligent vehicle according to claim 1, characterized in that, The potential field function is composed of the sub-potential field functions established by each circle in the vehicle body circle group, the sub-potential field functions established by each circle in the front circle group, and the sub-potential field functions established by each circle in the rear circle group, and the value of the potential field function at any point is the maximum value among the sub-potential field functions.

6. The potential field model for spatial occupancy marking of an intelligent vehicle according to claim 5, characterized in that, For any circle in the vehicle body circle group, the value of the sub-potential field function established by that circle is greater inside the circle than outside the circle, and the gradient of the sub-potential field function established by the circles in the vehicle body circle group is greater than the gradient of the sub-potential field function established by the circles in the front circle group or the rear circle group.

7. The potential field model for spatial occupancy marking of an intelligent vehicle according to claim 5, characterized in that, The sub-potential field function established by each circle in the vehicle body circle group is in the form of an exponential function, and the sub-potential field function established by each circle in the front circle group and the rear circle group is in the form of a hyperbolic tangent function.

8. The potential field model for spatial occupancy marking of an intelligent vehicle according to claim 1, characterized in that, In the front and rear circular groups, the diameter of each circle decreases sequentially in a geometric progression away from the vehicle body, and the distance between the centers of each circle also decreases sequentially in a geometric progression.

9. The potential field model for spatial occupancy markers in intelligent vehicles according to claim 1, characterized in that, The sub-potential field functions established by each circle in the front circle group decrease sequentially from the direction closer to the vehicle body to the direction farther away from the vehicle body, and the gradient of the superimposed potential function does not increase monotonically along the extension line of the vehicle body axis.

10. The potential field model for spatial occupancy markers in intelligent vehicles according to claim 1, characterized in that, The potential field model is configured for multi-vehicle cooperative control in a connected environment. The potential field function of the other vehicles serves as a constraint term in the optimization objective of the controlled vehicle to prevent the controlled vehicle from entering the area marked by the body circle group and distance circle group of the other vehicles.

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