基于改进势场法的智能车超车动态路径规划  

Dynamic Path Planning for Intelligent Vehicle Overtaking Based on Improved Potential Field Method

作　　者：张喜清[1] 马志光 陈殿明 李进 ZHANG Xi-qing;MA Zhi-guang;CHEN Dian-ming;LI Jin(School of Vehicle and Transportation Engineering,Taiyuan University of Science and Technology,Taiyuan 030000,China;School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030000,China)

机构地区：[1]太原科技大学车辆与交通工程学院,太原030000 [2]太原科技大学机械工程学院,太原030000

出　　处：《科学技术与工程》2024年第20期8746-8753,共8页Science Technology and Engineering

基　　金：山西省基础研究计划项目(202203021221160);山西省基础研究计划项目(202203021221148);太原科技大学中国国际大学生创新大赛培优项目(PY20240116)。

摘　　要：为了改进人工势场法(artificial potential field,APF)在智能车高速超车状态下规划出的轨迹规范性差、安全性得不到保障、以及路径不平滑的问题。设计用于指引智能车换道的换道引力势场,以保证换道轨迹的规范性;构建异向分布结构的障碍车斥力势场提高换道的安全性;并建立带有转向缺口的道路中心线斥力势场和设计平滑代价函数优化规划出的轨迹点,使规划出的路径更加平滑。基于线性二次型调节器(linear quadratic regulator,LQR)设计路径跟踪控制器跟踪规划出的路径。通过Simulink与Carsim联合仿真,结果表明:所改进的APF算法能规划出更加合理的路径,设计的LQR路径跟踪控制器跟踪误差趋近于零,能够较好地控制车辆完成超车换道。To improve the problems of poor trajectory specification,unsecured safety,and unsmooth paths planned by the artificial potential field(APF)in the high-speed overtaking state of intelligent vehicles.The lane-changing gravitational potential field was designed to guide the smart vehicle to change lanes to ensure the normality of the lane-changing trajectory.An obstacle vehicle repulsive potential field with an anisotropic distribution structure was constructed to improve the safety of lane changing,and the road centerline repulsive potential field with a steering notch and design the smoothing cost function was established to optimize the planned trajectory points to make the planned path smoother.The path tracking controller based on linear quadratic regulator(LQR)was designed to track the planned path.Through the joint simulation of Simulink and Carsim,the results show that the improved APF algorithm can plan a more reasonable path,and the tracking error of the designed LQR path tracking controller tends to be close to zero,which can better control the vehicle to complete the overtaking lane change.

关 键 词：改进的人工势场法(APF) 高速超车换道 局部路径规划 线性二次型调节器(LQR)控制器 路径跟踪 

分 类 号：U471.15[机械工程—车辆工程]