The invention relates to an automatic lane changing control method for unmanned vehicles in a ramp diversion area of an expressway, which comprises the following steps: analyzing the driving condition of the ramp diversion area, and providing a lane changing condition state machine; establishing a vehicle dynamics model; a longitudinal motion controller is designed by adopting a model prediction control method, and the planned vehicle speed is tracked; designing a self-adaptive time domain parameter selection strategy according to the influence of the vehicle speed change on the transverse driving stability of the vehicle, and selecting an optimal transverse motion controller design parameter according to the real-time vehicle speed; on the basis of the selected optimal time domain parameters, considering front and rear wheel rotation angles, increment constraints thereof and output quantity constraint conditions, and designing a transverse motion controller; and transverse stable control and safe driving control of the unmanned vehicle are realized. According to the method, the influence of the vehicle speed change on the vehicle driving stability during high-speed lane changing is considered in the controller design, and the trajectory tracking precision, the vehicle driving stability and the vehicle driving safety in the high-speed lane changing process of the driverless vehicle are improved.
一种高速公路匝道分流区无人驾驶车辆自动换道控制方法,分析匝道分流区域的行驶工况,提出换道条件状态机;建立车辆动力学模型;采用模型预测控制方法进行纵向运动控制器设计,实现对规划车速的跟踪;根据车速变化对车辆横向行驶稳定性的影响,设计自适应时域参数选择策略,根据实时车速选择最优横向运动控制器设计参数;基于所选择的最优时域参数,考虑前、后轮转角及其增量约束,以及输出量约束条件,进行横向运动控制器设计;实现无人驾驶车辆的横向稳定控制、安全行驶控制。该方法在控制器设计中考虑了高速换道时车辆速度变化对于车辆行驶稳定性的影响,提高了无人驾驶汽车高速换道过程中的轨迹跟踪精度、车辆行驶稳定性和安全性。
Automatic lane changing control method for unmanned vehicle in highway ramp diversion area
一种高速公路匝道分流区无人驾驶车辆自动换道控制方法
2024-07-23
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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