| 引用本文: | 廖道争,刘孝楠,程俊,席磊.智能汽车匝道合流区域紧急避障综合运动控制[J].控制理论与应用,2025,42(7):1426~1434.[点击复制] |
| LIAO Dao-zheng,LIU Xiao-nan,CHENG Jun,XI Lei.Integrated motion control of intelligent vehicle for emergency obstacle avoidance on confluence area[J].Control Theory & Applications,2025,42(7):1426~1434.[点击复制] |
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| 智能汽车匝道合流区域紧急避障综合运动控制 |
| Integrated motion control of intelligent vehicle for emergency obstacle avoidance on confluence area |
| 摘要点击 3256 全文点击 226 投稿时间：2023-05-26 修订日期：2025-02-11 |
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| DOI编号 10.7641/CTA.2023.30365 |
| 2025,42(7):1426-1434 |
| 中文关键词 紧急避障 轨迹规划 速度跟踪 自适应模型预测控制 |
| 英文关键词 obstacle avoidance trajectory planning speed tracking adaptive model predictive control |
| 基金项目 国家自然科学基金项目(52277108)资助. |
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| 中文摘要 |
| 针对智能汽车匝道合流区域紧急换道避障路径规划与跟踪控制问题, 本文提出了一种自适应换道避障跟
踪控制方法. 首先, 依据当前车道、目标车道车辆行驶状态提出紧急换道避障的安全约束条件, 进行换道避障路径
规划和速度规划; 然后, 基于模型预测控制(MPC)设计车辆纵向运动控制器, 实现对车速的精确跟踪; 最后, 根据车
辆实时车速提出了最优预测时域参数的选择方法, 进行了自适应预测时域MPC横向跟踪控制器的设计. 仿真结果
表明, 所提控制方法比固定时域参数模型预测控制方法具有更高的跟踪精度和行驶稳定性. |
| 英文摘要 |
| Aiming at the problem of path planning and tracking control for emergency lane change obstacle avoidance
in ramp confluence area of intelligent vehicle, an adaptive tracking control method is proposed, which can avoid obstacles
use lane change. First of all, according to the vehicle running state at current lane and target lane, the safety constraint
conditions of emergency lane change obstacle avoidance are proposed, and path planning and speed planning are carried out
for lane change obstacle avoidance. Then, based on the model predictive control (MPC), the longitudinal motion controller
is designed to track the vehicle’s speed accurately. Finally, according to the real-time speed, the optimal prediction time
domain parameter selection method is proposed, and the adaptive prediction time domain MPC lateral tracking controller
is designed. Simulation results show that the proposed control method has higher tracking accuracy and driving stability
than the fixed time domain parameter method. |
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