复杂场景智能车辆车道与速度一体化滚动优化决策  

Integrated moving horizon decision-making method for lane and speed of intelligent vehicle in complex scenarios

作　　者：郭洪艳[1,2] 于文雅 刘俊[1,2] 戴启坤 GUO Hong-yan;YU Wen-ya;LIU Jun;DAI Qi-kun(State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China;College ofCommunication Engineering,Jilin University,Changchun 130022,China)

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,长春130022 [2]吉林大学通信工程学院,长春130022

出　　处：《吉林大学学报（工学版）》2023年第3期693-703,共11页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(U19A2069,61790563);吉林省科学技术厅项目(20200501011GX,20200401088GX)。

摘　　要：针对智能车在复杂场景下的行车环境理解和行为决策问题,提出了一种智能车辆车道与速度一体化滚动优化决策方法。在复杂场景下建立了车路空间重构模型,得到以不同车道中心线为参考的车辆位置。建立了以非整数的纵向车速和整数的车道序号为控制量的车道与车速一体化模型。对本车与多方向来车的未来轨迹进行安全性分析,将复杂场景下智能车辆车道与速度一体化决策描述为混合整数非线性规划问题。为了验证本文决策方法的有效性,在无保护路口场景下进行汽车动力学仿真软件veDYNA和Simulink的联合仿真,结果表明:本文决策方法面对行驶缓慢、突然切入的周车,能及时做出换道决策;当智能车和周车同时行驶至路口区域时,能够做出减速让行决策,以实现安全行驶。Aiming at the problem of intelligent vehicle's driving environment understanding and behavior decision-making in complex scenarios,an integrated moving horizon decision-making method for lane and speed of intelligent vehicle was proposed.To obtain the vehicle positions based on the centerlines of different lanes,the vehicle-road space reconstruction model in complex scenarios and the integrated model of lane and vehicle speed with non-integer longitudinal vehicle speed and integer lane number as control variables was established.The safety of future trajectories of the vehicle and oncoming vehicles from multiple directions was analyzed.The integrated decision-making of lane and speed of intelligent vehicle in complex scenarios was described as a mixed-integer nonlinear programming problem.In order to verify the effectiveness of the integrated moving horizon decision-making method of lane and speed,the joint simulation of the vehicle dynamics simulation software veDYNA and Simulink is carried out in the unprotected intersection scenario.The results show that the decision-making method can change lanes in the face of slow-moving or abruptly cut-in vehicles;for safety,intelligent vehicle can make decisions to slow down and give way,when it and the surrounding vehicles drive to the intersection area at the same time.

关 键 词：控制理论与控制工程 车道与速度一体化决策 滚动优化 复杂场景 混合整数规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]