The invention provides a path real-time planning and distributed control method of an intelligent networked automobile. The method comprises the steps: determining a road feature point according to aknown lane line position and the global path of a vehicle at the departure moment of the vehicle; in the planning stage, palnning the path from the current position of the vehicle to the road featurepoint closest to the vehicle through a Bezier curve, planning a speed curve according to a known signal lamp phase, speed limit signboard information and the known speed curve, performing sampling dispersion on the path curve according to the speed curve to obtain vehicle track points at fixed time intervals; and in the control stage, enabling a vehicle to obtain prediction information output by one-step control of other vehicles in the communication range of the vehicle by means of the Internet of Vehicles, solving a local optimal control problem in a future time domain in combination with the obtained planned track point of the vehicle, outputting a control quantity to the vehicle and outputting the prediction information to other vehicles in the communication range. According to the method, the real-time performance of trajectory planning can be ensured, and the road space can be fully utilized, so that the traffic efficiency is improved.
本发明提出的一种智能网联汽车的路径实时规划与分布式控制方法,包括:车辆出发时刻,根据已知的车道线位置和自车的全局路径确定道路特征点;规划阶段,通过贝塞尔曲线规划自车当前位置到距自车最近的道路特征点的路径,并根据已知的信号灯相位、限速标志牌信息,规划速度曲线,并在路径曲线上按照该速度曲线进行采样离散,得到固定时间间隔的自车轨迹点;控制阶段,车辆首先借助车联网获取其通信范围内他车上一步控制输出的预测信息,并结合得到的自车规划轨迹点,在未来一段时域内求解本地的最优控制问题,向自车输出控制量、向通信范围内他车输出预测信息。本方法可以保证轨迹规划的实时性,并能充分地利用道路空间从而提高交通效率。
Path real-time planning and distributed control method of intelligent networked automobile
一种智能网联汽车的路径实时规划与分布式控制方法
2020-12-04
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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