The invention relates to a multi-objective optimization collaborative lane changing method based on vehicle dynamics, which comprises the steps that a collaborative lane changing control framework is established in a CAV vehicle control system, and the collaborative lane changing control framework comprises the arrangement of a longitudinal controller and the arrangement of a transverse controller; the setting of the longitudinal controller comprises the following steps: establishing a bicycle longitudinal dynamic model; designing a longitudinal controller; and solving the longitudinal controller. The setting of the transverse controller comprises reference trajectory generation; carrying out transverse dynamics modeling; establishing a prediction equation; setting constraint conditions; and establishing a target function. A first element in # imgabs0 # is used as an actual control increment to act on a CAV vehicle control system, thereby controlling the travel trajectory of the vehicle. According to the multi-objective optimization collaborative lane changing method based on the vehicle dynamics, a two-stage longitudinal and transverse independent control framework is provided, the operation difficulty of vehicle lane changing can be reduced, and the control efficiency is improved.
本申请涉及一种基于车辆动力学的多目标优化协同换道方法,包括在CAV车辆控制系统中建立协同换道控制框架,所述协同换道控制框架包括设置纵向控制器和设置横向控制器;所述设置纵向控制器包括:建立单车纵向动力学模型;纵向控制器设计;纵向控制器求解。所述设置横向控制器包括参考轨迹生成;横向动力学建模;建立预测方程;设置约束条件;建立目标函数。将#imgabs0#中的第1个元素作为实际控制增量作用于CAV车辆控制系统,从而对车辆的行驶轨迹进行控制。本申请的基于车辆动力学的多目标优化协同换道方法,提出了两阶段纵横向独立控制框架,能够降低车辆换道的操作难度,提高控制效率。
Multi-objective optimization collaborative lane changing method based on vehicle dynamics
基于车辆动力学的多目标优化协同换道方法
2024-08-02
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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