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Intelligent vehicle lane-changing trajectory planning method based on nonlinear model predictive control

A nonlinear model and predictive control technology, applied in the field of intelligent vehicles, can solve problems such as less lateral control, and achieve the effect of concise thinking, clear design basis, and shortened development cycle.

Active Publication Date: 2019-08-23
JILIN UNIV
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  • Application Information

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Problems solved by technology

Although there are some very mature driver assistance systems, such as ACC (adaptive cruise control system) and AEB (automatic brake assist system), these systems mainly control the longitudinal direction of the vehicle, and less lateral control is involved.

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  • Intelligent vehicle lane-changing trajectory planning method based on nonlinear model predictive control
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  • Intelligent vehicle lane-changing trajectory planning method based on nonlinear model predictive control

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Embodiment Construction

[0022] The technical solution of the present invention and its simulation test will be introduced in detail below in conjunction with the accompanying drawings.

[0023] A method for real-time trajectory planning of intelligent vehicles based on nonlinear model predictive control, comprising the following steps:

[0024] Step 1. The nonlinear dynamic model design of the intelligent vehicle: by combining the linear two-degree-of-freedom model of the vehicle and the kinematic equation of the vehicle under the earth coordinates, the nonlinear dynamic equation of the controlled object is established;

[0025] Step 2, nonlinear model predictive controller design:

[0026] 2.1) use the time interval T for the nonlinear dynamics model that described step 1 establishes s After discretization, the state prediction equation of the system in the prediction time domain is obtained;

[0027] 2.2) By introducing the cost function and constraints of the control problem, construct an NMPC p...

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Abstract

The invention discloses an intelligent vehicle real-time trajectory planning method based on nonlinear model predictive control; the method comprises the following steps of by combining a linear two-degree-of-freedom model of a vehicle and a kinematic equation of the vehicle under geodetic coordinates, establishing a nonlinear dynamics equation of a controlled object; discretizing the establishednonlinear dynamics model by using a time interval Ts to obtain a state prediction equation of the system in the prediction time domain; constructing NMPC problem containing a terminal constraint by introducing a cost function and the constraint of the control problem; solving the nonlinear optimal control problem through a tool box, and obtaining the optimal control sequence, and supplying the first component of the optimal control sequence to the controlled object; and establishing a Simulink and Carsim combined simulation platform for experimental verification.

Description

technical field [0001] The present invention aims at intelligent vehicles, and provides a real-time trajectory planning method based on nonlinear model predictive control (NMPC) algorithm in order to realize automatic lane changes without giving reference trajectory or parameter equations for lane changes, belonging to intelligent vehicles technology field. Background technique [0002] In recent decades, the number of cars has increased year by year, making the traffic environment increasingly complex. According to the report "European accident research and safety report" released by Volvo in 2013, human error is the root cause of nearly 90% of traffic accidents. Among these traffic accidents, safety accidents caused by dangerous lane changes account for the vast majority. Lane changing behavior involves longitudinal and lateral control of the vehicle. Although there are some very mature driver assistance systems, such as ACC (Adaptive Cruise Control) and AEB (Automatic ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/02
CPCG05D1/0088G05D1/0223G05B13/048G05B13/042
Inventor 刘奇芳张羽翔钟一禾郭露露陈虹
Owner JILIN UNIV
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