汽车工程

汽车工程 ›› 2019, Vol. 41 ›› Issue (4): 404-410.doi: 10.19562/j.chinasae.qcgc.2019.04.007

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基于模型预测控制的智能车辆主动避撞控制研究*

任玥1, 郑玲1, 张巍1, 杨威1, 熊周兵2   

  1. 1.重庆大学汽车工程学院,机械传动国家重点实验室,重庆 400044;
    2.重庆长安汽车工程研究院,重庆 401120
  • 出版日期:2019-04-25 发布日期:2019-05-20
  • 通讯作者: 郑玲,教授,E-mail:zling@cqu.edu.cn
  • 基金资助:
    *科技部重点研究计划(2017YFB0102603)和国家自然科学基金面上项目(51875061)资助

A Study on Active Collision Avoidance Control of Autonomous Vehicles Based on Model Predictive Control

Ren Yue1, Zheng Ling1, Zhang Wei1, Yang Wei1 & Xiong Zhoubing2   

  1. 1.Department of Automobile Engineering, Chongqing University, The State Key Lab of Mechanical Transmissions, Chongqing 400044;
    2.Changan Automotive Engineering Institute, Chongqing 401120
  • Online:2019-04-25 Published:2019-05-20

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摘要： 针对自主驾驶车辆的转向避撞问题,提出了一种分层避撞控制方法。上层路径规划控制器基于车辆运动学模型,引入人工势场函数,采用障碍物与车辆的相对状态描述车辆碰撞风险。基于模型预测控制理论,构建优化目标函数,规划最优避撞路线,并采用五次多项式拟合局部避撞路径。对于下层路径跟踪控制器,则建立车辆非线性动力学模型,构建基于最优转向盘转角输入的路径跟踪优化函数,实现局部避撞路径跟踪。最后搭建了Carsim/Matlab联合仿真平台,对被控车辆在不同路面、不同车速情况下的避障路径规划和跟踪效果进行了仿真。结果表明:上层控制器能根据障碍物信息实时规划局部避撞路径,下层控制器能控制车辆平滑、稳定地跟踪参考路径,从而实现车辆的主动避撞功能。

关键词: 智能车辆, 分层控制, 主动避撞, 路径规划, 路径跟踪

Abstract: Aiming at the problem of steering collision avoidance for autonomous vehicle, a hierarchical control method for collision avoidance is proposed. In upper-layer controller for path planning, the artificial potential field function is introduced based on vehicle kinematic model and the relative state between vehicle and obstacle is used to describe the collision risk of vehicle. While in bottom-layer controller for path tracking, the nonlinear kinetic model of vehicle and the path tracking optimization function based on optimal steering wheel angle input are established to achieve local collision avoidance path tracking. Finally Carsim/Matlab joint simulation platform is constructed to simulate the collision avoidance path planning and tracking effects of controlled vehicle under different speeds and road conditions. The results show that the upper controller can plan local collision avoidance path real time according to obstacle information, while the bottom-layer controller can control the vehicle to smoothly and stably track reference path, hence fulfilling the active collision avoidance function of vehicle.

Key words: autonomous vehicle, hierarchical control, active collision avoidance, path planning, path tracking