Vehicle obstacle avoidance trajectory planning and tracking control method

A trajectory planning and tracking control technology, applied in vehicle position/route/altitude control, non-electric variable control, control/regulation system and other directions, can solve the problems of not considering the target path ahead, poor flexibility, and inability to learn

Active Publication Date: 2019-10-25
JILIN UNIV
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Problems solved by technology

For the planning of obstacle avoidance paths, it usually includes artificial potential field method, intelligent optimization algorithm, etc. Among them, the artificial potential field method is a kind of virtual force method, which regards the movement of the vehicle in the surrounding environment as the vehicle in the artificially established virtual force field. The path planned by the artificial potential field method is generally smooth and safe, the algorithm is simple, and the real-time performance is good, but the smart car is easy to fall into the local optimum; and for the intelligent optimization

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  • Vehicle obstacle avoidance trajectory planning and tracking control method
  • Vehicle obstacle avoidance trajectory planning and tracking control method
  • Vehicle obstacle avoidance trajectory planning and tracking control method

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[0069] Describe technical scheme of the present invention in detail below in conjunction with accompanying drawing:

[0070] The present invention provides a vehicle obstacle avoidance trajectory planning and tracking control method, the method includes the following steps:

[0071] Step 1. An obstacle avoidance path planning based on the three-segment sinusoidal optimization idea is proposed: based on the on-board sensor system, when the vehicle detects an obstacle in the lane ahead, there are many ways to avoid the obstacle by steering the steering wheel ,Such as figure 2 The first path 1 and the second path 2, but the effects of these two paths on obstacle avoidance are different. The first path 1 is that the lateral displacement of the vehicle has exceeded the obstacle before the longitudinal displacement of the vehicle reaches the obstacle. The lateral position has achieved safe obstacle avoidance. The second path 2 is after the vehicle’s longitudinal displacement reach...

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Abstract

The invention belongs to the technical field of vehicle obstacle avoidance control methods, and discloses a vehicle obstacle avoidance trajectory planning and tracking control method. The vehicle obstacle avoidance trajectory planning and tracking control method comprises the steps of: decomposing an obstacle avoidance process into trajectory planning based on optimization and trajectory trackingcontrol based on model predictive control, establishing a trajectory optimization problem aiming at time optimum and comprising a plurality of constraints based on a three-section sinusoidal curve oflateral acceleration, and acquiring the optimal trajectory of obstacle avoidance through optimization solution; and establishing a two-degree-of-freedom vehicle control model, taking path tracking performance and the optimal steering angle as cost functions, and designing the optimal trajectory tracking controller based on a model predictive control idea, so as to achieve effective obstacle avoidance.

Description

technical field [0001] The invention belongs to the technical field of vehicle obstacle avoidance control methods, in particular to a vehicle obstacle avoidance trajectory planning and tracking control method. Background technique [0002] At present, automobile intelligence has become a research hotspot in the field of automobile industry and vehicle engineering, and vehicle obstacle avoidance control technology has received the focus and extensive research of the academic circles. In the existing vehicle obstacle avoidance control technology research, the control method of obstacle avoidance path planning and tracking is usually adopted, which is also the most effective control scheme for vehicle obstacle avoidance at present. For the planning of obstacle avoidance paths, it usually includes artificial potential field method, intelligent optimization algorithm, etc. Among them, the artificial potential field method is a kind of virtual force method, which regards the movem...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D2201/0212
Inventor 曲婷褚建新王一男许芳于树友
Owner JILIN UNIV
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