Vehicle obstacle avoidance trajectory planning and tracking control method

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...

AI Technical Summary

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 algorithm, the fuzzy logic algorithm is often used, which is based on According to human experience, a fuzzy control rule base is designed, the information obtained by the sensor is used as input, and the required output of the vehicle is obtained through fuzzy reasoning. However, fuzzy rules are often preset by people through experience, so the flexibility is poor and cannot be learned.

[0003] For the tracking control of the obstacle avoidance path, the LQR method is usually used, but this method does not consider the target path in front of the preview, which is prone to the problem of large tracking error

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