The invention discloses an autonomous driving vehicle trajectory planning and tracking control method considering active safety, relates to the technical field of automobile safe driving, and solves the problems of vehicle safety, pedestrian safety and the like during obstacle avoidance of an autonomous driving vehicle which runs at a high speed on a wet and slippery road surface and under complex scenes of emergency obstacle avoidance, emergency pedestrian avoidance and the like. According to the invention, the established traffic environment potential field is added to the objective function of the MPC controller; and setting a constraint condition, predicting the vehicle state at the k + i moment by adopting the prediction model according to the vehicle state at the k moment and the control quantity at the k moment, and then obtaining the control quantity meeting the constraint condition by taking the minimum target function value as an optimization target and the set constraint condition. The side-longitudinal safety of the vehicle is improved, the pedestrian safety is guaranteed, the real-time performance is good, and safe obstacle avoidance of the vehicle in various complex scenes is achieved.

    考虑主动安全的自主驾驶车辆轨迹规划与跟踪控制方法,涉及汽车安全驾驶技术领域,解决现有驾驶车辆在湿滑路面、紧急避障和紧急躲避行人等复杂场景下高速行驶的自主驾驶车辆避障时的车辆安全与行人安全等问题,本发明通过将建立交通环境势场加入MPC控制器的目标函数中;设定约束条件,采用预测模型根据k时刻的车辆状态和k时刻的控制量预测k+i时刻的车辆状态,然后以目标函数值最小作为优化目标以及设定的约束条件,获得满足约束条件的控制量。本发明提高了车辆侧‑纵向安全,保障了行人安全,并具有良好的实时性,实现了车辆在多种复杂场景下的安全避障。


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    Title :

    Autonomous driving vehicle trajectory planning and tracking control method considering active safety


    Additional title:

    考虑主动安全的自主驾驶车辆轨迹规划与跟踪控制方法


    Contributors:
    SUI ZHEN (author) / LI DAZHI (author) / GAO YAN (author) / MA YAN (author)

    Publication date :

    2023-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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