高速公路智能车辆动态避障研究

Dynamic obstacle avoidance study of intelligent vehicles based on model predictive control

为改善高速公路行车安全性,设计了智能汽车动态避障轨迹规划与跟踪集成控制器。建立了智能汽车的动力学及运动学模型,以主车与周围车辆无碰撞、跟随期望轨迹以及保证车辆稳定性作为优化目标,用虚拟势场法描述主车与周围车辆的位置关系,基于模型预测控制原理对智能车辆动态避障轨迹规划与跟踪进行集成控制,采用Matlab/Prescan联合仿真平台验证动态换道避障算法的有效性。结果表明:该集成控制算法在高速公路动态换道场景下,能有效避免主车与周围车辆发生碰撞,保证了行驶安全性。

In order to improve the driving safety of expressway vehicles,an integrated controller for dynamic obstacle avoidance trajectory planning and tracking of intelligent vehicles has been designed.Smart car dynamics and kinematics model has been established,with the main car without collision with the vehicle,follow a desired trajectory,and guarantee the stability of vehicle as the optimization goal,with a virtual force field method to describe the main relation with surrounding the location of the vehicle,based on model predictive control principle of intelligent vehicle integration of dynamic obstacle avoidance path planning and tracking control.The dynamic lane change and obstacle avoidance has been verified by co-simulation.The results show that the integrated control algorithm can effectively avoid the collision between the main vehicle and the surrounding vehicles,and ensure the driving safety.