基于NMPC的智能汽车变道避撞控制研究  

Research on intelligent vehicle lane change and collision avoidance control based on NMPC

作　　者：王衍学 裴如庆 冯剑波 WANG Yanxue;PEI Ruqing;FENG Jianbo(School of Mechanical-Electronic and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 102600,China)

机构地区：[1]北京建筑大学机电与车辆工程学院,北京102600

出　　处：《浙江工业大学学报》2024年第3期290-298,共9页Journal of Zhejiang University of Technology

基　　金：国家自然科学基金资助项目(51875032);北京市百千万人才计划资助项目(2020A26);北京建筑大学市属高校基本科研业务专项资金项目的资助(X20159)。

摘　　要：针对无人驾驶车辆仅采用转向主动避撞控制策略难以应对复杂交通环境的问题,提出了一种基于非线性模型预测控制的变道轨迹规划与跟踪控制方法,实现了无须预先定义轨迹的实时轨迹规划。首先,分析了在高速公路上需要进行变道的场景,针对车辆在变道过程中不仅涉及横向位置的变化而且还与纵向速度有关的问题,建立了车辆横向和纵向联合非线性预测车辆模型;然后,基于模型预测控制算法可以考虑各种复杂约束、非线性等前提以实现系统性能最优控制的优势,设计了基于非线性模型预测控制(NMPC)的变道避撞控制器;最后,利用Matlab和Carsim联合仿真平台对所提方法进行了验证。仿真结果表明:所提出的方法不仅可以使车辆在复杂交通环境下成功地进行变道,而且能在变道过程中保持车身稳定、变道轨迹平滑。Aiming at the problem that it is difficult for unmanned vehicles to cope with complex traffic environment by using only control strategies of steering active collision avoidance,a lane change trajectory planning and tracking control method based on nonlinear model predictive control is proposed,which realizes real-time trajectory planning without pre-defined trajectories.Firstly,the scenarios in which a lane change is required on the highway are analyzed.Secondly,in order to solve the problem that not only the lateral position change but also the longitudinal speed of the vehicle is involved in the process of lane changing,a combined lateral and longitudinal nonlinear prediction vehicle model is established.Thirdly,based on the model predictive control algorithm,various complex constraints,nonlinearity and other preconditions can be considered to realize the optimal control of the system performance,and a lane-change collision avoidance controller based on Nonlinear Model Predictive Control(NMPC)is designed.Finally,the proposed method is verified using the co-simulation platform of Matlab and Carsim.The results show that the proposed method can make the vehicle change lanes successfully in complex traffic environment,and keep the vehicle body stable and lane changing trajectory smooth during the lane change process.

关 键 词：主动避撞 多约束优化 非线性模型预测控制 横纵向联合车辆模型 

分 类 号：U461.1[机械工程—车辆工程]