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A planning and control method for automatic lane changing of vehicles based on model predictive control

A control method, a technology of vehicle dynamics, applied in the field of autonomous driving motion planning, which can solve problems such as increasing the complexity of optimization problems

Active Publication Date: 2021-03-16
TSINGHUA UNIV
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Problems solved by technology

But this method of adding probability parameters to the constraints increases the complexity of the optimization problem

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  • A planning and control method for automatic lane changing of vehicles based on model predictive control
  • A planning and control method for automatic lane changing of vehicles based on model predictive control
  • A planning and control method for automatic lane changing of vehicles based on model predictive control

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Embodiment Construction

[0110] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and do not limit the protection scope of the present invention.

[0111] In order to better understand the present invention, an application example of a method for planning and controlling automatic lane changing of vehicles based on model predictive control of the present invention is described in detail below.

[0112] see figure 1, a vehicle automatic lane changing planning and control method based on model predictive control proposed by the present invention, the input of the method includes the output of the perception system, the obstacle motion prediction algorithm and the vehicle behavior decision. The perception system ...

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Abstract

The invention provides a vehicle automatic lane changing planning and control method based on model predictive control. Model prediction control is suitable for solving a multi-constraint multi-targetoptimization problem, and lane changing track planning and control can be synchronously achieved. The control method is characterized in that lane changing motion planning is expressed as a model prediction control problem, a vehicle dynamics model is adopted to describe the lane changing motion, the vehicle dynamics limit and a collision-free safe inter-vehicle distance serve as forced constraints of an optimization problem, a vehicle following distance serves as non-forced constraints of an optimization problem, smoothness and rapidity of a lane changing track serve as optimization objectives, and thereby optimal lane changing motion planning is achieved. The method provided by the invention is advantaged in that complexity of a lane changing planning algorithm is simplified, and solving efficiency of lane changing planning is improved while lane changing safety is ensured by jointly using soft and hard constraints.

Description

technical field [0001] The invention relates to the technical field of automatic driving motion planning, in particular to a vehicle automatic lane changing planning and control method based on model prediction control. Background technique [0002] Vehicle lane changing is a very high-risk driving behavior. The driver needs to interact with complex traffic scenes while completing the horizontal and vertical control of the vehicle. Traffic accidents caused by lane-changing behavior have caused great casualties and property losses. It is of great significance to realize automatic lane-changing of vehicles in advanced assisted driving systems or automatic driving systems. Lane-changing motion planning is an important part of the automatic lane-changing function. [0003] In the existing automatic lane changing methods, the automatic lane changing motion planning task is usually divided into two steps: lane changing trajectory planning and trajectory tracking control. In order...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/16G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223G05D1/0276G05D2201/0213G08G1/167
Inventor 江昆杨殿阁寇胜杰于伟光
Owner TSINGHUA UNIV
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