双向两车道公路自主超车轨迹规划及跟踪控制  

Autonomous overtaking trajectory planning and tracking control on two-way two-lane roads

作　　者：余姝源 杨林 杨蓉[1] 姚起宏[1] 黄俊明[1] 王成官 YU Shuyuan;YANG Lin;YANG Rong;YAO Qihong;HUANG Junming;WANG Chengguan(School of Mechanical Engineering,Guangxi University,Nanning 530004,China;Institute of Intelligent Manufacturing Technology,Shenzhen Polytechnic University,Shenzhen 518055,China)

机构地区：[1]广西大学机械工程学院,南宁530004 [2]深圳职业技术学院智能制造技术研究院,广东深圳518055

出　　处：《重庆理工大学学报（自然科学）》2023年第7期90-100,共11页Journal of Chongqing University of Technology：Natural Science

基　　金：广西创新发展驱动项目(AA22068061,AA22068063);深圳职业技术学院博士后启动基金项目(6021330014K)。

摘　　要：研究了自主地面车辆在双向两车道公路场景下的超车轨迹规划和跟踪控制。建立了权衡换道稳定性和效率的目标函数,得到最优五次多项式换道轨迹。将超车过程分为换道、超越和并道3个阶段,根据超车车辆与其他车辆的临界碰撞条件建立安全距离模型,进而判断超车的可行性,得到超越阶段时长以及规划完整的超车轨迹。分别设计模型预测控制器和离散滑模控制器跟踪横向路径和纵向速度,并利用模糊控制对模型预测控制器输出的前轮转角进行补偿。在Matlab和CarSim联合仿真环境下进行超车验证,结果表明:所提出的超车轨迹规划及跟踪方法能够使车辆实现自主超车机动,并保持良好的跟踪精度和稳定性。This paper studies overtaking trajectory planning and tracking control of autonomous ground vehicles on a scene of two-way two-lane roads.Firstly,an objective function is established to balance the stability and efficiency of lane changing,and the optimal quintic polynomial lane changing trajectory is obtained.Then,the overtaking process is divided into three stages:lane changing,overtaking and lane merging.A safety distance model is established based on the critical collision conditions of the overtaking vehicle and other vehicles so as to judge the feasibility of the overtaking,obtain the duration of the overtaking,and plan the complete overtaking trajectory.After that,a model predictive controller and a discrete sliding mode controller are designed to track the lateral path and longitudinal speed respectively,and fuzzy control is used to compensate for the front steering angle output by the model predictive controller.Finally,overtaking verification is carried out under the joint simulation environment of Matlab and CarSim.The results show that the proposed overtaking trajectory planning and tracking method enable the vehicle to achieve autonomous overtaking maneuvers and maintain good tracking accuracy and stability.

关 键 词：双向两车道公路 超车轨迹规划及跟踪 模糊控制 模型预测控制 离散滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U461[自动化与计算机技术—控制科学与工程]