智能车辆的行为动力学运动规划方法研究  

Study on the Motion Planning Method of Intelligent Vehicle Based on the Behavior Dynamics

作　　者：韩改宁[1,2] 傅卫平[1] 郝大鹏[1] 王雯[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048 [2]咸阳师范学院信息工程学院,咸阳712000

出　　处：《机械科学与技术》2015年第2期301-306,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(10872160);陕西省普通高等学校重点学科建设车辆工程国家重点学科培育学科项目;陕西省科技厅项目(2013JM8035);陕西省教育厅科研研究计划项目(14JK1796)资助

摘　　要：针对城市道路行驶的动态环境和智能车辆的典型驾驶行为,提出一种基于行为动力学的运动规划方法。根据智能车辆的导航控制要求,以航向角和线速度为行为控制变量,建立了基于行为动力学的运动规划模型。根据对智能车辆行驶环境和典型驾驶行为的分析,建立运动规划模型的坐标系;根据行为动力学原理,分别用吸引子和排斥子表达目标和障碍物,并建立趋向目标和避障的行为控制变量的吸引子和排斥子模型;通过吸引力和排斥力加权合成,建立了智能车辆行为动力学运动规划模型,实现了车辆在横向的航向角控制和纵向上的速度控制。仿真实验表明:所建立的行为动力学运动规划模型可实现车道保持、换道及超车等行为,并且能在车道内安全行驶。For the dynamics of urban road environment and the typical driving behavior of intelligent vehicle,the motion planning method based on the behavior dynamics was proposed. According to the requirements of the intelligent vehicle navigation control,the heading angle and line speed for behavior control variables,the motion planning model based on the behavior dynamics was established. Firstly,based on the intelligent vehicle driving environment and the analysis of the typical driving behavior,the coordinate motion planning model was set up. Secondly,according to the principle of behavior dynamics,respectively by the attractor and repellor expression of target and obstacle,and tend to target and obstacle avoidance the behavior of the control variables attractor and repellor of model was established. Finally,through the weighted synthesis of attraction and repulsion,intelligent vehicle behavior dynamics motion planning model was established,the vehicles in the lateral of the heading angle control and speed control on longitudinal was realized. The simulation experiments show that the present model of the behavior dynamics of motion planning could realize the lane keeping,lane changing and overtaking behavior,and safe driving in the lane.

关 键 词：智能车辆 运动规划 行为动力学 航向控制 速度控制 

分 类 号：U463.6[机械工程—车辆工程] U461.1[交通运输工程—载运工具运用工程]