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For the active obstacle avoidance of vehicle under different road conditions, this paper proposed an obstacle avoidance path planning method in driving risk field considering road adhesion coefficient. Firstly, the driving risk fields including road boundary risk field, target gravitational field and obstacle risk field were established. The road adhesion coefficient was estimated in real time based on the volumetric Kalman filter algorithm, and the driving risk field function considering the road adhesion coefficient was derived with negative gradient derivative, and the obstacle avoidance path with the lowest risk was obtained. Then, the obstacle avoidance reference path satisfying the vehicle constraints was obtained by 5-degree polynomial fitting optimization. Finally, the model predictive control algorithm was utilized to track the obstacle avoidance path. The simulation results show that at the same speed, the smaller the road adhesion coefficient, the smaller the lateral acceleration is, the smaller the standard deviation of the lateral acceleration is, and the more stable the obstacle avoidance effect will be.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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