基于模型预测控制的智能车辆主动避撞控制研究
|
摘要
针对自主驾驶车辆的转向避撞问题,提出了一种分层避撞控制方法。上层路径规划控制器基于车辆运动学模型,引入人工势场函数,采用障碍物与车辆的相对状态描述车辆碰撞风险。基于模型预测控制理论,构建优化目标函数,规划最优避撞路线,并采用五次多项式拟合局部避撞路径。对于下层路径跟踪控制器,则建立车辆非线性动力学模型,构建基于最优转向盘转角输入的路径跟踪优化函数,实现局部避撞路径跟踪。最后搭建了Carsim/Matlab联合仿真平台,对被控车辆在不同路面、不同车速情况下的避障路径规划和跟踪效果进行了仿真。结果表明:上层控制器能根据障碍物信息实时规划局部避撞路径,下层控制器能控制车辆平滑、稳定地跟踪参考路径,从而实现车辆的主动避撞功能。
Aiming at the problem of steering collision avoidance for autonomous vehicle, a hierarchical control method for collision avoidance is proposed. In upper-layer controller for path planning, the artificial potential field function is introduced based on vehicle kinematic model and the relative state between vehicle and obstacle is used to describe the collision risk of vehicle. While in bottom-layer controller for path tracking, the nonlinear kinetic model of vehicle and the path tracking optimization function based on optimal steering wheel angle input are established to achieve local collision avoidance path tracking. Finally Carsim/Matlab joint simulation platform is constructed to simulate the collision avoidance path planning and tracking effects of controlled vehicle under different speeds and road conditions. The results show that the upper controller can plan local collision avoidance path real time according to obstacle information, while the bottom-layer controller can control the vehicle to smoothly and stably track reference path, hence fulfilling the active collision avoidance function of vehicle.
Aiming at the problem of steering collision avoidance for autonomous vehicle, a hierarchical control method for collision avoidance is proposed. In upper-layer controller for path planning, the artificial potential field function is introduced based on vehicle kinematic model and the relative state between vehicle and obstacle is used to describe the collision risk of vehicle. While in bottom-layer controller for path tracking, the nonlinear kinetic model of vehicle and the path tracking optimization function based on optimal steering wheel angle input are established to achieve local collision avoidance path tracking. Finally Carsim/Matlab joint simulation platform is constructed to simulate the collision avoidance path planning and tracking effects of controlled vehicle under different speeds and road conditions. The results show that the upper controller can plan local collision avoidance path real time according to obstacle information, while the bottom-layer controller can control the vehicle to smoothly and stably track reference path, hence fulfilling the active collision avoidance function of vehicle.
引文
[1] 王兴祥.汽车安全技术的研究现状及展望[J].科协论坛,2013(6):60-61.
[2] 丛岩峰.高速公路环境中自主驾驶车辆运动规划与控制[D].长春:吉林大学,2011.
[3] MORREL J S.The mathematics of collision avoidance in the air[J].The Journal of Navigation,1958,11(1):18-28.
[4] TOMAS-GABARRON J B,EGEA-LOPEZ E,GARCIA-HARO J.Vehicular trajectory optimization for cooperative collision avoidance at high speeds[J].IEEE Transactions on Intelligent Transportation Systems,2013,14(4):1930-1941.
[5] FRAICHARD T.Dynamic trajectory planning with dynamic constraints:a‘state-time space’approach[C].Intelligent Robots and Systems' 93,IROS'93.Proceedings of the 1993 IEEE/RSJ International Conference on.IEEE,1993,2:1393-1400.
[6] FRAZZOLI E,DAHLEH M A,FERON E.Real-time motion planning for agile autonomous vehicles[J].Journal of Guidance,Control,and Dynamics,2002,25(1):116-129.
[7] MOON S,LEE U,SHIM D H.Study on real-time obstacle avoidance for unmanned ground vehicles[C].Control Automation and Systems (ICCAS),2010 International Conference on.IEEE,2010:1332-1335.
[8] 董红召,陈炜烽,郭明飞,等.基于车路一体化的车辆主动避撞系统关键技术的研究[J].汽车工程,2010,32(11):984-988.
[9] 赵伟,魏朗,张群,等.汽车侧向控制系统的模糊-PID控制仿真[J].南昌大学学报:工科版,2008,30(2):159-164.
[10] 赵伟,魏朗,张群,等.汽车超车并行工况下侧向避撞控制策略研究[J].郑州大学学报:工学版,2008,29(1):83-87.
[11] 廉宇峰.电动汽车主动避撞系统状态估计与控制策略研究[D].长春:吉林大学,2015.
[12] 刘子龙.基于反馈线性化的无人驾驶车辆横向位置跟踪控制[J].系统工程与电子技术,2009,31(1):165-169.
[13] 余如,郭洪艳,陈虹.自主驾驶车辆的预测避障控制[J].信息与控制,2015(1):117-124.
[14] 李波.人在回路的无人驾驶车辆启发式全局路径规划算法研究[D].北京:北京理工大学,2013.
[15] 朱西产,刘智超,李霖.基于车辆与行人危险工况的转向避撞控制策略[J].汽车安全与节能学报,2015(3):217-223.
[16] YOSHIDA H,SHINOHARA S,NAGAI M.Lane change steering manoeuvre using model predictive control theory[J].Vehicle System Dynamics,2008,46(S1):669-681.
[2] 丛岩峰.高速公路环境中自主驾驶车辆运动规划与控制[D].长春:吉林大学,2011.
[3] MORREL J S.The mathematics of collision avoidance in the air[J].The Journal of Navigation,1958,11(1):18-28.
[4] TOMAS-GABARRON J B,EGEA-LOPEZ E,GARCIA-HARO J.Vehicular trajectory optimization for cooperative collision avoidance at high speeds[J].IEEE Transactions on Intelligent Transportation Systems,2013,14(4):1930-1941.
[5] FRAICHARD T.Dynamic trajectory planning with dynamic constraints:a‘state-time space’approach[C].Intelligent Robots and Systems' 93,IROS'93.Proceedings of the 1993 IEEE/RSJ International Conference on.IEEE,1993,2:1393-1400.
[6] FRAZZOLI E,DAHLEH M A,FERON E.Real-time motion planning for agile autonomous vehicles[J].Journal of Guidance,Control,and Dynamics,2002,25(1):116-129.
[7] MOON S,LEE U,SHIM D H.Study on real-time obstacle avoidance for unmanned ground vehicles[C].Control Automation and Systems (ICCAS),2010 International Conference on.IEEE,2010:1332-1335.
[8] 董红召,陈炜烽,郭明飞,等.基于车路一体化的车辆主动避撞系统关键技术的研究[J].汽车工程,2010,32(11):984-988.
[9] 赵伟,魏朗,张群,等.汽车侧向控制系统的模糊-PID控制仿真[J].南昌大学学报:工科版,2008,30(2):159-164.
[10] 赵伟,魏朗,张群,等.汽车超车并行工况下侧向避撞控制策略研究[J].郑州大学学报:工学版,2008,29(1):83-87.
[11] 廉宇峰.电动汽车主动避撞系统状态估计与控制策略研究[D].长春:吉林大学,2015.
[12] 刘子龙.基于反馈线性化的无人驾驶车辆横向位置跟踪控制[J].系统工程与电子技术,2009,31(1):165-169.
[13] 余如,郭洪艳,陈虹.自主驾驶车辆的预测避障控制[J].信息与控制,2015(1):117-124.
[14] 李波.人在回路的无人驾驶车辆启发式全局路径规划算法研究[D].北京:北京理工大学,2013.
[15] 朱西产,刘智超,李霖.基于车辆与行人危险工况的转向避撞控制策略[J].汽车安全与节能学报,2015(3):217-223.
[16] YOSHIDA H,SHINOHARA S,NAGAI M.Lane change steering manoeuvre using model predictive control theory[J].Vehicle System Dynamics,2008,46(S1):669-681.