智能车辆的避障路径规划与跟踪控制仿真分析

Simulation analysis of obstacle avoidance path planning and tracking control for intelligent vehicles

为提高智能车辆在高速行驶时避障换道的安全性,提出考虑防碰撞与防侧翻的避障路径规划与跟踪控制。首先根据障碍物与车辆的外切圆半径大小构建防碰撞约束条件,通过车辆的横向转移率来评价规划路径的侧翻风险,进而构建防侧翻约束条件,再结合传统的多项式路径规划推导出六次多项式路径规划公式。然后基于模型预测控制算法设计出避障路径跟踪控制器,并联合Carsim与Simulink进行仿真测试分析,验证该文所设计的避障路径是否满足避障要求,以及控制器在进行路径跟踪控制时的精度。最后对控制器在不同路面附着系数的条件下进行仿真,验证路径跟踪控制器具有较高的鲁棒性。

In order to improve the safety of obstacle avoidance lane-changing for smart cars during high-speed driving,obstacle-avoiding path planning and tracking control considering anti-collision and anti-rollover are proposed.First,anti-collision constraints are constructed according to the radius of the tangent circle between the obstacle and the vehicle.Then,anti-rollover constraints are constructed by assessing the risk of rollover through the lateral transfer rate of the vehicle.Then,a six-order polynomial path planning formula is derived in combination with the traditional polynomial path planning.Then,a barrier avoidance path tracking controller is designed based on the model predictive control algorithm,and a simulation test is conducted with Carsim and Simulink to verify whether the controller meets the requirements of obstacle avoidance.Finally,the controller is simulated under different road adhesion factors to verify its robustness.