The invention belongs to the technical field of automatic driving, and relates to a vehicle lane changing prediction control method based on a switching model. According to the characteristic that the vehicle has multiple modes in different lane changing stages, multiple automatic driving vehicle lane changing excitation dynamic models are established. State constraints and input constraints in a complex traffic environment are considered for each mode, and operation association among different modes is established through a switching strategy. According to the method, the modeling accuracy can be effectively improved, and meanwhile, the problem that a traditional single modeling method is too complex is avoided. The method can ensure that the vehicle lane changing system always has a feasible control sequence under switching of different modes, so that when the initial state of the system meets the condition of an initial invariant set, the recursion feasibility predicted by the designed switching model can be always ensured, and the lane changing control stability of the high-speed automatic driving vehicle is realized. By switching model predictive control design, the obtained control input can meet constraint conditions in the maximum feasible region.

    本发明属于自动驾驶技术领域,涉及一种基于切换模型的车辆变道预测控制方法。本发明针对车辆变道的不同阶段具有多种模态的特性,建立多种自动驾驶车辆变道激动的动力学模型。分别为各个模态考虑复杂交通环境下的状态约束和输入约束,并通过切换策略建立了不同模态之间的运行关联。本发明可以有效提高建模的准确性,同时避免传统单一建模方法过于复杂的问题。本发明可以保证车辆变道系统在不同模态切换下始终存在可行的控制序列,从而当系统初始状态满足初始不变集条件下,所设计的切换模型预测的递归可行性始终可以得到保证,从而实现了高速自动驾驶车辆变道控制稳定性。通过切换模型预测控制设计,所得到的控制输入能够在最大的可行域上满足约束条件。


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    Title :

    Vehicle lane changing prediction control method based on switching model


    Additional title:

    一种基于切换模型的车辆变道预测控制方法


    Contributors:
    WU FEIYUE (author) / LIAN JIE (author) / WANG DONG (author)

    Publication date :

    2024-08-02


    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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