基于路径优化与模型预测算法的无人汽车车道变换控制  

Lane Change Control of Driverless Vehicle Based on Path Optimization and Adaptive Predictive Control Algorithm

作　　者：罗国荣 LUO Guorong(Institute of Automation Engineering,Guangzhou University of Technology and Technology,Guangzhou 510550,China)

机构地区：[1]广州科技职业技术大学自动化工程学院,广州510550

出　　处：《海南热带海洋学院学报》2021年第2期95-101,共7页Journal of Hainan Tropical Ocean University

摘　　要：基于Frenet坐标空间,提出一种基于自适应模型预测控制算法的无人驾驶汽车车道变换控制方法。新方法利用五次多项式对参考路径的局部轨迹进行优化,在满足安全距离、速度、加速度和转向角约束要求下,采用自适应模型预测控制算法调整汽车的纵向加速度和前转向角,使汽车沿着路径轨迹适当地变换车道以实现安全行驶。最后利用matlab软件建模仿真,仿真结果表明,此方法能使无人驾驶车安全、合理地规避公路中的静止和移动障碍,满足安全行驶的要求。Based on Frenet coordinate space,a lane change control method for driverless vehicle was proposed based on adaptive model predictive control algorithm.The local trajectory of the reference path was optimized by using a quintic polynomial.Under the constraints of safe distancing,velocity,acceleration and steering angle,the adaptive model predictive control algorithm was used to adjust the longitudinal acceleration and forward steering angle of the vehicle,in order that the vehicle change lanes appropriately along the path trajectory to achieve safe driving.Finally,the results of modeling and simulation by using matlab software showed that the present method can safely and reasonably avoid the static and moving obstacles in the highway,and meet the requirements of safe driving.

关 键 词：模型预测控制 无人驾驶 路径跟踪 局部优化 车道变换 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]