考虑避障稳定性的多轴特种车安全轨迹规划方法

A Safe Trajectory Planning Method for Multi-Axle Special Vehicles with Considering Obstacle Avoidance Stability

针对多轴特种车高速机动过程中,应急避障易造成失稳侧翻的问题,本文中以具有自动驾驶功能的5轴特种车为研究对象,生成考虑行驶安全的多轴特种车行驶轨迹.本文建立多轴特种车辆单轨动力学及高保真模型,开展模型校验研究;考虑多轴特种车辆及周围车辆的运动状态,建立车辆碰撞风险评估模型和避障稳定性约束模型;基于模型预测控制(model predictive control,MPC)方法,生成车辆安全稳定行驶轨迹.分析表明,本文提出的特种车辆安全轨迹规划方法能够降低行驶碰撞风险,同时有效约束车辆行驶时的横摆和侧倾,实现安全稳定行驶.

To cope with the instability and rollover during high-speed maneuvering for five-axle vehicle,the five-axle vehicle with automatic transmission function was taken as study object to consider the obstacle avoidance stability of the driving vehicle and generate a safe driving trajectory.Firstly,a vehicle dynamics and high fidel-ity model was established based on the assumption of the single track for verification of vehicle model.Then,a vehicle collision risk model and an obstacle avoidance stability model were established to consider the motion state of multi-axle vehicles and the surrounding vehicles.Finally,a safe and stable driving trajectory was gener-ated based on the model predictive control(MPC)method.The simulation results show that the designed traject-ory planner can reduce the risk of driving collision,effectively restrain the yaw and roll of the vehicle when driv-ing,and realize the safe and stable driving of the special vehicle.