The invention discloses a four-wheel steering intelligent automobile overtaking track planning method based on Internet of Vehicles communication, which comprises the following steps of: constructing a lane changing scene, and obtaining surrounding vehicle information; establishing a vehicle dynamics model of the four-wheel steering automobile; constructing a four-wheel steering intelligent vehicle trajectory equation, and constructing an overtaking trajectory optimization objective function according to the comfort requirement and the lane changing efficiency of the intelligent vehicle; a rectangular vehicle model is established, a rectangle slightly larger than the actual size of the vehicle is used for replacing the actual vehicle contour, and the model amplification coefficient can be dynamically adjusted according to the driving style, such as conservative, careful, traditional, entering and adventure, so that the collision constraint condition of overtaking track optimization is determined; determining constraint conditions of overtaking trajectory optimization; solving an optimal track; and the MPC controller is used for tracking the obtained overtaking track.
本发明公开了一种基于车联网通信的四轮转向智能汽车超车轨迹规划方法,包括以下步骤:构建变道场景,获取周围车辆信息;建立四轮转向汽车车辆动力学模型;构建四轮转向智能汽车轨迹方程,根据智能车辆的舒适性要求与变道效率构建超车轨迹优化目标函数;建立矩形车辆模型,使用比车辆实际尺寸稍大的矩形代替实际车辆轮廓,模型放大系数可以根据驾驶风格进行动态调整,如保守、谨慎、传统、进取、冒险,以确定超车轨迹优化的碰撞约束条件;确定超车轨迹优化的约束条件;求解最优轨迹;使用MPC控制器对所求得的超车轨迹进行跟踪。
Four-wheel steering intelligent automobile overtaking track planning method based on Internet of Vehicles communication
基于车联网通信的四轮转向智能汽车超车轨迹规划方法
2024-05-03
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 |