The invention relates to a constraint-fused high-speed automatic overtaking motion planning and control method, which comprises the following steps: S1, taking a four-wheel steering-four-wheel drive (4WS-4WD) multi-redundant chassis configuration as a target vehicle, and establishing a high-speed automatic overtaking vehicle dynamic constraint condition; s2, fusing the vehicle dynamics constraint conditions in the step S1 into an improved artificial potential field method, planning a high-speed automatic overtaking path, and transmitting the high-speed automatic overtaking path to a path tracking control method as reference input; and S3, fusing the dynamic constraint conditions of the vehicle in the step S1 into the rapid iteration model prediction control method again, receiving path reference input, solving the optimal control quantity to act on the vehicle, and realizing high-speed automatic overtaking path tracking. Compared with the prior art, the method solves the challenges of the driving environment and the rapid change of the vehicle dynamics on the motion planning and control method under the high-speed automatic overtaking condition, and further improves the safety of the vehicle under the harsh driving working condition.
本发明涉及一种约束融合的高速自动超车运动规划与控制方法,包括以下步骤:S1、以四轮转向‑四轮驱动(4WS‑4WD)多冗余底盘构型为目标车辆,建立高速自动超车车辆动力学约束条件;S2、将步骤S1中的车辆动力学约束条件融入改进人工势场方法,规划出高速自动超车路径,传递至路径跟踪控制方法中作为参考输入;S3、再次将步骤S1中的车辆动力学约束条件融入快速迭代模型预测控制方法,接收路径参考输入,求解最优控制量作用于车辆,实现高速自动超车路径跟踪。与现有技术相比,本发明解决了在高速自动超车下,驾驶环境和车辆动力学快速变化对运动规划和控制方法提出的挑战,进一步提高了车辆在严苛行驶工况下的安全性。
Constraint-fused high-speed automatic overtaking motion planning and control method
一种约束融合的高速自动超车运动规划与控制方法
14.07.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Accidents, overtaking and speed control
Elsevier | 1970
|Accidents, overtaking and speed control.
Elsevier | 1971
Automatic driving overtaking control method and system
Europäisches Patentamt | 2020
|