Automobile lane changing trajectory planning and dynamic trajectory tracking control method

A trajectory tracking and trajectory planning technology, applied in non-electric variable control, two-dimensional position/lane control, vehicle position/route/altitude control, etc., can solve the uncertain collision risk of lane changing trajectory and insufficient change of the state of the preceding vehicle. And other issues

Pending Publication Date: 2021-06-11
安徽卡思普智能科技有限公司
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Problems solved by technology

Although the lane-changing trajectory based on traditional polynomials has many advantages, its parameters are obtained at the initial moment of lane-changing, and it i

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  • Automobile lane changing trajectory planning and dynamic trajectory tracking control method
  • Automobile lane changing trajectory planning and dynamic trajectory tracking control method
  • Automobile lane changing trajectory planning and dynamic trajectory tracking control method

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[0020] Refer figure 1 The present invention proposes an automotive trip trajectory planning and dynamic trajectory tracking control method, which includes the following steps according to the road:

[0021] S1, planning the trajectory under the condition of a straight line or curved road; the specific steps are as follows:

[0022] S11, through radar or camera and other sensors, the front vehicle distance and vehicle speed information are obtained. When the renewal reference trajectory is planned, it is assumed that the front vehicle remains uniform, in order to avoid collision with the front car during the trifle, determine the controlled vehicle to start there. Minimum longitudinal safety distance between the front car safe The formula is:

[0023] S safe = Max {s f Ε v }

[0024] Among them, ε v Driving spacing for road regulations, s f For the longitudinal distance from the train in the trail time; in order to ensure the safety during the renewal, consider the dangerous sense ...

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Abstract

The invention discloses an automobile lane changing trajectory planning and dynamic trajectory tracking control method. The method comprises the following steps of S1, planning a lane changing trajectory under the condition of a straight road or a curved road; and S2, designing a dynamic trajectory tracking controller to track a reference trajectory, and constructing a reference trajectory gravitation function and an obstacle vehicle repulsive force function to avoid dynamic obstacles. According to the method, firstly, a lane changing reference trajectory planning method on a structured road is provided, and lane changing reference trajectory planning under the condition of a straight road or a curved road is carried out based on a quintic polynomial; secondly, the collision avoidance problem of a vehicle under the condition that the state of a front vehicle changes in the lane changing process is considered, the avoidance of a front obstacle vehicle is considered in the tracking process of a lane changing reference trajectory, and an anti-collision trajectory tracking controller is designed based on a model prediction algorithm; and a lane changing reference trajectory gravitational function and an obstacle vehicle repulsive force function are respectively designed as optimization functions of model prediction, and optimal control parameters are obtained through an optimization algorithm, so a purpose of collision-free trajectory tracking is achieved.

Description

technical field [0001] The technical field of the vehicle control method of the present invention, in particular, relates to a vehicle lane change trajectory planning and dynamic trajectory tracking control method. Background technique [0002] Vehicle active lane change trajectory planning and tracking control is the key technology to realize vehicle active lane change, and it is also an important function of advanced driver assistance system. The purpose of lane-changing trajectory planning is to obtain a curvature-continuous lane-changing trajectory according to the driving environment, which meets the requirements of vehicle lane-changing efficiency, safety, and ride comfort, while being constrained by vehicle kinematics and dynamics. The technical point of trajectory tracking control is to design the control law to perform real-time tracking control on the planned lane-changing trajectory. Through the combination of trajectory planning and tracking control, the vehicle...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0276G05D2201/0213
Inventor 魏振亚陈无畏张先锋孟建平丁雨康崔国良
Owner 安徽卡思普智能科技有限公司
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