The invention provides an intelligent vehicle lane changing trajectory planning method based on model predictive control, which comprises the following steps: firstly, sensing environment information in real time, calculating an emergency braking distance and an expected safety distance, and deciding behaviors of an intelligent vehicle; secondly, on the basis that a vehicle point quality model serves as a prediction model, an improved artificial potential field method and a model are combined to predict, control and plan a lane changing track, and the current optimal lane changing reference track selected from the sine lane changing reference track cluster is included; and finally, tracking the trajectory by adopting a trajectory tracking controller based on model predictive control. The improved artificial potential field method is adopted to fully adapt to the position, speed and acceleration changes of surrounding obstacle vehicles, the dynamic obstacle avoidance effect is remarkable, and the lane changing safety of the intelligent vehicle is guaranteed; the situations of following the front vehicle, canceling lane change and the like are also considered, and the adaptive scene is wider.
本发明提出了一种基于模型预测控制的智能车变道轨迹规划方法,首先实时感知环境信息并计算紧急制动距离和期望安全距离,决策智能车的行为;然后基于车辆点质量模型作为预测模型,结合改进的人工势场法和模型预测控制规划变道轨迹,其中包含了从正弦变道参考轨迹簇中选取的当前最优变道参考轨迹;最后,采用基于模型预测控制的轨迹跟踪控制器跟踪轨迹。本发明采用改进的人工势场法能充分适应周围障碍车的位置、速度和加速度变化,动态避障效果显著,保障了智能车变道的安全性;本发明还考虑了跟随前车和取消变道等情形,适应场景更广泛。
Intelligent vehicle lane changing trajectory planning method based on model predictive control
一种基于模型预测控制的智能车变道轨迹规划方法
2025-01-28
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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