基于最优预瞄的智能车变道控制

Lane-change Control for Intelligent Vehicles Based on Optimal Preview

针对智能车主动变道过程中的轨迹跟踪控制问题,基于“预瞄跟随”控制理论及“车辆道路”模型提出了最优预瞄轨迹跟踪控制模型,并依据线性二次型调节器(LQR)理论设计了轨迹跟踪控制器,获得了最优转向盘转角输入,以实现智能车变道轨迹跟踪。在MATLAB/Simulink和CarSim的联合仿真环境下构建了智能车的变道决策模块、变道参考轨迹模块和跟踪控制模块,实现了智能车在30 km/h、50 km/h和70 km/h速度下的仿真验证。结合实车测试结果验证了所设计控制器的精确度和稳定性。

Considering the trajectory-tracking control problems during the processes of lane-change for intelligent vehicles,an optimal preview trajectory-tracking control model was proposed based on the“preview-tracking”control theory and the“vehicle-road”model.According to the linear quadratic regulator(LQR)theory,a trajectory-tracking controller was designed and the optimal steering angle inputs were obtained to realize the lane-change trajectory tracking of the intelligent vehicles.Under the co-simulation environment of MATLAB/Simulink and CarSim,the lane-change decision module,lane-change reference trajectory module and tracking control module for the intelligent vehicles were established,and the simulation analyses of the intelligent vehicles were carried out at the speeds of 30 km/h,50 km/h and 70 km/h respectively.After the combination of vehicle test results,the accuracy and the stability of the proposed controller were verified.