基于模型预测控制的智能车辆紧急避障系统

Intelligent vehicle emergency obstacle avoidance system based on model predictive control

为了减少因危险交通条件或驾驶员操作失误等原因而导致的事故,提出了一种基于轨迹重规划与路径跟踪双层模型预测控制(MPC)的紧急避障策略.轨迹规划层采用了实时性较好的点质量模型,路径跟踪层则采用精度较高的车辆七自由度动力学模型,以MPC算法为基础设计了控制器,并利用联合仿真平台验证其在不同工况下的鲁棒性.结果表明,所设计的控制器分别在不同车速和路面附着系数下都很好地完成了避障操作,且具有很强的鲁棒性.

In order to reduce accidents caused by dangerous traffic conditions or driver's misoperation,an emergency obstacle avoidance strategy based on trajectory re-planning and path tracking double-layer model predictive control(MPC)is proposed.The point quality model with better real-time performance is adopted on the trajectory planning layer,the vehicle seven degree of freedom dynamic model with high precision is adopted on the path tracking layer,and the controller is designed based on MPC algorithm.The joint simulation platform is used to verify its robustness under different working conditions.The results show that the designed controller can complete the obstacle avoidance operation well under different vehicle speeds and road adhesion coefficients,and has strong robustness.