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A Tracking Control Method for Vehicle Lane Changing Based on Model Prediction

A technology of model prediction and trajectory tracking, which is applied to vehicle lane-changing trajectory tracking control, and the planning and control of lane-changing trajectories for intelligent vehicles during lane-changing driving. It can solve the problem of neglecting longitudinal speed control and insufficient consideration of ride comfort constraints and other problems, to achieve the effect of reducing lateral tracking error, high precision, and high control precision

Active Publication Date: 2021-07-16
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • A Tracking Control Method for Vehicle Lane Changing Based on Model Prediction
  • A Tracking Control Method for Vehicle Lane Changing Based on Model Prediction
  • A Tracking Control Method for Vehicle Lane Changing Based on Model Prediction

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Embodiment Construction

[0021] In order to facilitate those of ordinary skill in the art to understand and implement the present invention, the present invention will be further described in detail and in-depth below in conjunction with the accompanying drawings.

[0022] The invention is applied to the advanced driving assistance system (ADAS) of the vehicle, and plans a vehicle lane-changing trajectory tracking control method based on model prediction that considers the driver's comfort. In the ADAS, after receiving the lane-changing instruction issued by the decision-making layer, the planning module plans the lane-changing trajectory according to the method of the present invention, and sends the calculated expected trajectory to the control module, and the control module controls the vehicle to change lanes according to the expected trajectory. The vehicle lane-changing trajectory tracking control method based on model prediction of the present invention mainly includes three steps: step 1, estab...

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Abstract

The invention discloses a vehicle lane-changing trajectory tracking control method based on model prediction, which belongs to the technical field of intelligent vehicle control. The present invention is applied to a vehicle advanced driving assistance system, including: establishing a lane-changing expected trajectory model based on positive and negative trapezoidal yaw accelerations; performing force analysis on lane-changing vehicles to establish a three-degree-of-freedom vehicle dynamics model; The three-degree-of-freedom vehicle dynamics model is transformed into a discrete linear predictive model, the objective function and constraints of the model predictive controller are designed, and the physical quantities that control the vehicle's motion are calculated and output according to the expected trajectory. The desired track for lane change planned by the present invention improves the comfort of the driver. The control amount includes the driving force of the vehicle and the front wheel angle, which meets the requirements for lateral lane change while ensuring high-precision vehicle speed control and the robustness of control tracking. Strong performance, high control precision, can effectively reduce the lateral tracking error.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/18B60W50/00
CPCB60W30/18163B60W50/00B60W2050/0034
Inventor 张辉代华强冯敏健
Owner BEIHANG UNIV
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