Vehicle lane-changing path tracking control method based on model prediction

Abstract

The invention discloses a vehicle lane-changing path tracking control method based on model prediction, and belongs to the technical field of intelligent vehicle control. The vehicle lane-changing path tracking control method is applied to an advanced driver-assistance system of a vehicle and comprises the steps of establishing an expected lane-changing path model based on obverse and reverse trapezoid yaw angle acceleration, performing force analysis on a lane-changing vehicle, establishing a 3-DoF vehicle dynamic model, converting the nonlinear 3-DoF vehicle dynamic model into a discrete linear prediction model, designing an objective function and constraint conditions of a model prediction controller, and calculating and outputting a physical quantity for controlling the motion of the vehicle according to an expected path. The expected lane-changing path planned according to the vehicle lane-changing path tracking control method improves the comfort of a driver. Control quantities comprise a driving force and a front wheel steering angle of vehicle driving so as to ensure high-precision vehicle speed control while satisfying the lateral lane-changing requirements. The robustnessof control tracking is high, and the control precision is high, so that lateral tracking errors can be effectively reduced.

Description

technical field [0001] The invention relates to a tracking control method for a vehicle lane change track, in particular to a planning and control method for a lane change track of an intelligent vehicle during lane change driving, and belongs to the technical field of intelligent vehicle control. Background technique [0002] In recent years, as people have higher and higher requirements for intelligent and safe vehicles, traditional vehicles no longer meet the needs of drivers. The advanced driver assistance system (ADAS) collects environmental information through sensors, and through calculation and analysis, it can warn the driver of potential dangers and assist the driver in driving, which significantly improves driving safety and comfort. In recent years, the research and application of ADAS have become more and more extensive. [0003] During the driving process of intelligent vehicles, vehicle following and changing lanes are two different behaviors. Vehicle followi...

AI Technical Summary

Problems solved by technology

[0006] The present invention aims at problems such as insufficient consideration of riding comfort constraints in the lane changing process and ignoring the longitudinal speed control in the lane changing process in the current vehicle lane changing trajectory planning, and provides a vehicle lane changing trajectory tracking control based on model prediction method

Images