基于城市超车工况的智能车辆避障规划方法研究  

Autonomous vehicle trajectory planning based on urban overtaking conditions

作　　者：唐友名 孙冠豫 孙贵斌 黄雄栋 张义 陈慧勤[4] TANG Youming;SUN Guanyu;SUN Guibin;HUANG Xiongdong;ZHANG Yi;CHEN Huiqin(Mechanical and Automotive Engineering College,Xiamen Technology University,Xiamen 361024,China;School of Mechanical&Energy Engineering,Zhejiang University of Science&Technology,Hangzhou 310023,China;Xiamen King Long United Automotive Industry Co.,Ltd,Xiamen 361024,China;Mechanical Engineering College,Hangzhou Dianzi University,Hangzhou 310018,China)

机构地区：[1]厦门理工学院机械与汽车工程学院,福建厦门361024 [2]浙江科技学院机械与能源工程学院,浙江杭州310023 [3]厦门金龙联合汽车工业有限公司,福建厦门361024 [4]杭州电子科技大学机械工程学院,浙江杭州310018

出　　处：《智能系统学报》2024年第3期619-626,共8页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金项目(51975172);国家高端外专项目(G20200221011);福建省自然科学基金项目(2021J011197);浙江省自然科学基金项目(LY19E050012);厦门市重大科技项目(3502Z20201015);厦门理工学院研究生科技创新项目(YKJCX2021024).

摘　　要：在城市道路行驶中,超车驾驶既是常见的驾驶行为,也是常见的交通事故工况之一。基于改进人工势场法(artificial potential field method)与模型预测控制(model predicition control)提出了一种避障规划控制方法。首先,构建目标点引力势场函数、道路及车道线势场函数以及障碍物车辆势场函数;其次,基于势场函数建立统一化模型函数;最后,对系统进行模拟实验评估。结果表明,提出的避障规划控制方法能够生成安全、平滑的路径,其前轮转角变化范围在[−0.67°,1.02°],质心侧偏角变化范围在[−0.22°,0.32°],具有稳定的控制能力。Overtaking is a common driving behavior on urban road.It is also one of the common behaviors in traffic accidents.Based on the improved artificial potential field method(APF)and model prediction control(MPC),a barrier avoidance planning control method was proposed in this study.The method firstly built the gravitational potential field function of the target point,the potential field function of the road&lane line and the potential field function of the obstacle vehicle,then established the unified model function on the basis of the potential field function,and finally evaluated the simulation experiment of the system.The results show that the proposed obstacle avoidance planning control method can generate a safe and smooth path,with the change range of the turning angle of the front wheel within[−0.67°,1.02°],the change scope of the side slip angle within[−0.22°,0.32°],having stable control ability.

关 键 词：自动驾驶 人工势场法 模型预测控制 超车工况 轨迹规划 安全距离 车辆动力学 避障策略 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程] U46[自动化与计算机技术—控制科学与工程]