基于MPC的智能车辆换道重规划研究

Study on Lane-Change Replanning for Intelligent Vehicle Based on Model Predictive Control

为解决智能车辆换道过程中,由于其他车辆的行驶状态发生改变导致碰撞风险的问题,需对主车进行实时局部路径规划。基于模型预测控制(MPC)提出换道轨迹重规划策略,根据碰撞风险将其划分为换道轨迹修正策略、换道折返策略及前向主动避撞策略,建立基于MPC的横向控制和基于双比例积分微分控制器(PID)的纵向控制,并以纵向车速为联合点的横纵向综合轨迹跟踪控制器。将轨迹规划模块、轨迹重规划模块及轨迹跟踪模块分层集成,对换道轨迹重规划策略进行仿真验证。仿真结果表明:基于MPC的换道轨迹重规划和轨迹跟踪控制可在不同场景下实现车辆安全避撞。

To address the issue of collision risk during lane changing of intelligent vehicles caused by changes in the driving status of other vehicles,real-time local path planning is required for the host vehicle.Based on Model Predictive Control(MPC),a lane change trajectory replanning strategy is proposed,which is divided into lane change trajectory correction strategy,lane change reentry strategy,and forward active collision avoidance strategy according to the collision risk.A lateral control based on MPC and a longitudinal control based on dual PID are established,and a comprehensive lateral-longitudinal trajectory tracking controller is designed with the longitudinal speed as the joint point.The trajectory planning module,trajectory replanning module,and trajectory tracking module are integrated in layers,and simulations are conducted to verify the lane change trajectory replanning strategies.The simulation results show that the lane change trajectory replanning and trajectory tracking control based on MPC can achieve safe collision avoidance for vehicles in different scenarios.