基于模型预测的智能汽车辅助驾驶控制研究  

Research on Intelligent Vehicle Assisted Driving Control Based on Model Prediction

作　　者：林长波 许恩永 LIN Changbo;XU Enyong(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China;Dongfeng Liuzhou Automobile Company Limited,Liuzhou 545005,China)

机构地区：[1]武汉理工大学机电工程学院,湖北武汉430070 [2]东风柳州汽车有限公司,广西柳州545005

出　　处：《汽车实用技术》2024年第1期39-45,共7页Automobile Applied Technology

基　　金：广西创新驱动发展科技重大专项(AA22068001、AA23062031);广西重点研发项目(AB21196029);柳州市科技计划项目(2022AAA0102)。

摘　　要：辅助驾驶控制是智能汽车的重要功能,可有效协助驾驶员完成驾驶操作,减少驾驶疲劳并提升驾驶安全。智能车辆的辅助驾驶控制需要在不干扰驾驶员的情况下,提供合适的车辆运动控制量并防止可能发生的碰撞。文章提出了一种基于模型预测控制的智能汽车辅助驾驶控制方法。该控制方法在驾驶员正常操作时符合驾驶员的操作特性,在可能发生碰撞时纠正驾驶员的转向操作,能够保证安全性且不干扰驾驶员。为了避免与周围车辆的碰撞,基于周围车辆位置建立约束条件,并引入模型预测辅助驾驶控制设计。通过仿真研究验证了所提出的辅助驾驶控制方法,结果表明,所提出的预测控制方法可以帮助驾驶员避免与附近车辆可能发生的碰撞,从而保证智能汽车的行驶安全。Assisted driving control is a critical function of intelligent vehicles,providing effective support to drivers by reducing driving fatigue and improving overall driving safety.However,achieving the delicate balance between offering the appropriate level of vehicle motion control and preventing collisions without disturbing the driver is crucial.This paper introduces a novel approach to assisted driving control in smart vehicles,leveraging model predictive control techniques.The proposed controller is designed to align with the driver's normal operating characteristics while proactively correcting steering inputs in potential collision scenarios,ensuring safety without compromising driver comfort.To address collision avoidance with surrounding vehicles,establish constraints based on their positions and incorporate model predictive control into the assisted driving design.Extensive simulation studies verify the effectiveness of the proposed assisted driving control method,demonstrating its ability to assist drivers in avoiding possible collisions with nearby vehicles and ultimately ensuring the driving safety of intelligent vehicle.

关 键 词：智能汽车 辅助驾驶 模型预测控制 驾驶员行为 

分 类 号：U467.1[机械工程—车辆工程]