A constraint optimization driven non-cooperative game collision avoidance control method is characterized in that the method comprises a path planning module, a constraint type non-cooperative game controller and a vehicle model; the path planning module obtains a driver expected path and a controller expected path respectively through driver path planning and controller path planning according to the road information, and inputs the expected paths to the constrained non-cooperative game controller; on the basis, the constrained non-cooperative game controller combines a driver expected path, a controller expected path and actual vehicle state information output by a vehicle model, the actual vehicle state information comprises the lateral speed, the yaw velocity, the lateral displacement and the yaw angle of an automobile, constrained optimization problem construction is conducted, solving is conducted through quadratic programming, the optimal control action is determined, and the optimal control action is obtained. Comprising a front wheel turning angle of a driver and a front wheel turning angle of a controller, and is input to a vehicle model to control a vehicle to realize collision avoidance control.

    一种约束优化驱动的非合作博弈避撞控制方法,其特征在于,该方法包括路径规划模块、约束型非合作博弈控制器、车辆模型;路径规划模块根据道路信息,通过驾驶员路径规划和控制器路径规划,分别得到驾驶员期望路径和控制器期望路径,并将期望路径输入给约束型非合作博弈控制器;在此基础上,约束型非合作博弈控制器结合驾驶员期望路径和控制器期望路径,以及车辆模型输出实际的车辆状态信息,包括汽车侧向速度、横摆角速度、侧向位移和横摆角,进行约束型优化问题构建,通过二次规划求解,确定最优控制动作,包括驾驶员的前轮转角和控制器的前轮转角,输入给车辆模型,控制车辆实现避撞控制。


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    Title :

    Constraint optimization driven non-cooperative game collision avoidance control method


    Additional title:

    一种约束优化驱动的非合作博弈避撞控制方法


    Contributors:
    CUI GAOJIAN (author) / DUAN YAOHUA (author) / LI SHAOSONG (author) / XU QIPEI (author) / LI GUOHUA (author) / LU XIAOHUI (author) / TIAN LIYUAN (author) / YANG SHITONG (author)

    Publication date :

    2024-11-19


    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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