融合改善型可行性检验模型的换道跟踪方法  

Lane-changing trajectory tracking method by integratedmodified feasibility test model

作　　者：向云丰 贺岩松[1] 孔伟伟[2] 陈健 罗禹贡[2] XIANG Yunfeng;HE Yansong;KONG Weiwei;CHEN Jian;LUO Yugong(School of Automotive Engineering,Chongqing University,Chongqing 400044,P.R.China;State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing 100084,P.R.China)

机构地区：[1]重庆大学汽车工程学院,重庆400044 [2]清华大学汽车安全与节能国家重点实验室,北京100084

出　　处：《重庆大学学报》2021年第12期15-30,共16页Journal of Chongqing University

基　　金：国家国际科技合作专项资助(2019YFE0100200);国家自然科学基金资助项目(51975310)。

摘　　要：现有的最小安全距离换道可行性检验模型通常默认周围车辆处于车道保持状态,且只考虑本车道和目标车道车辆对本车换道的影响,未讨论周围车辆处于车道变换状态或者相间车道车辆变道的影响。为建立更加安全、全面的换道可行性检验模型,实现安全自主换道,分析了车道变换的逻辑架构,重点研究了一种全面考虑周围(包括相邻车道和相间车道)车辆处于车道变换和车道保持状态的改善型换道可行性检验模型,保障车辆换道过程中不与周围车辆发生碰撞。使用基于模型预测控制(MPC)方法实现换道轨迹跟踪控制,设计仿真对比试验,通过PreScan和Simulink联合仿真对所研究的模型和方法进行验证。仿真结果表明提出的改善型换道可行性检验模型比对比模型更加安全高效,MPC控制方法的横向轨迹跟踪误差在1 cm以内,具有很高的跟踪精度。The existing minimum safe distance lane changing feasibility test models usually consider the surrounding vehicles in the lane-keeping and only discuss the influence of the vehicles in present lane and the target lane.The influences of the surrounding vehicles in the lane-changing or in the interphase lane are not considered.To ensure that the vehicle would not collide with the surrounding vehicles during the lane-changing,a modified lane changing feasibility test model which considered the surrounding vehicles(in the adjacent lanes and in the interphase lanes)in the lane-changing or lane-keeping state was proposed.Firstly,the logic framework of lane-changing was analyzed.The trajectory tracking control was then completed based on the model predictive control(MPC)method.Finally,a simulation comparison test was designed and the proposed model and method were verified by the PreScan and Simulink co-simulation.The simulation results show that the proposed improved lane-changing feasibility test model is safer and more efficient than the existing model.The tracking error of the MPC controller is within 1 cm,suggesting that the proposed model has high tracking accuracy.

关 键 词：无人驾驶汽车 车道变换 换道可行性 最小安全距离 轨迹跟踪 模型预测控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]