The invention provides a vehicle automatic lane changing planning and control method based on model predictive control. Model prediction control is suitable for solving a multi-constraint multi-targetoptimization problem, and lane changing track planning and control can be synchronously achieved. The control method is characterized in that lane changing motion planning is expressed as a model prediction control problem, a vehicle dynamics model is adopted to describe the lane changing motion, the vehicle dynamics limit and a collision-free safe inter-vehicle distance serve as forced constraints of an optimization problem, a vehicle following distance serves as non-forced constraints of an optimization problem, smoothness and rapidity of a lane changing track serve as optimization objectives, and thereby optimal lane changing motion planning is achieved. The method provided by the invention is advantaged in that complexity of a lane changing planning algorithm is simplified, and solving efficiency of lane changing planning is improved while lane changing safety is ensured by jointly using soft and hard constraints.
本发明提出的一种基于模型预测控制的车辆自动换道规划与控制方法。模型预测控制适用于解决多约束多目标的优化问题,可以同步实现换道轨迹规划与控制。本发明将换道运动规划表达为一个模型预测控制问题,采用车辆动力学模型描述换道运动,将车辆动力学极限和无碰撞安全车间距离作为优化问题的强制约束,将跟车距离作为优化问题的非强制约束,将换道轨迹的平滑性和快速性作为优化目标,从而实现了最优换道运动规划。本发明提出的方法简化了换道规划算法复杂度,联合使用软硬约束在保证换道安全的同时提高了换道规划求解效率。
Vehicle automatic lane changing planning and control method based on model predictive control
一种基于模型预测控制的车辆自动换道规划与控制方法
09.06.2020
Patent
Elektronische Ressource
Chinesisch
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