The invention relates to the field of automobile collision avoidance control, in particular to an unmanned automobile collision avoidance control method and system based on a potential field model. The system comprises a potential field model building module, an MPC collision avoidance path planning module, an MPC control module and a vehicle model module; and the potential field model is used for calculating collision avoidance path discrete points, the MPC collision avoidance path planning module is used for optimizing the collision avoidance path discrete points, the MPC control module optimizes and solves the front wheel turning angle of the automobile according to the lateral displacement, the yaw angle and the actual state quantity of the automobile and inputs the front wheel turning angle to the automobile model module, and the automobile model module is used for outputting the actual state quantity of the automobile. According to the method, path planning is added on the basis of traditional tracking control, the path can be planned by optimizing the minimum discrete point of the potential field, then path tracking is carried out through tracking control, obstacle avoidance control in the dynamic traffic environment is achieved, and the smoothness of the path and the follow-up efficiency in the obstacle avoidance process are improved.

    本发明涉及汽车避撞控制领域,具体涉及一种基于势场模型的无人汽车避撞控制方法及系统;所述系统中包括势场模型构建模块,MPC避撞路径规划模块,MPC控制模块和车辆模型模块;势场模型用于计算避撞路径离散点,MPC避撞路径规划模块用于优化避撞路径离散点,MPC控制模块根据侧向位移和横摆角以及汽车的实际状态量优化求解汽车的前轮转角,并输入到车辆模型模块,车辆模型模块用于输出车辆的实际状态量。本发明在传统的追踪控制之上增加了一个路径规划,能够通过将势场最小离散点进行优化,规划路径,随后通过追踪控制进行路径追踪,实现动态交通环境下的避障控制,提高避障过程中路径的光滑性和同行效率。


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    Title :

    Unmanned automobile collision avoidance control method and system based on potential field model


    Additional title:

    一种基于势场模型的无人汽车避撞控制方法及系统


    Contributors:
    LI HAIQING (author) / LI SIJUN (author) / LUO JIUFEI (author) / XIA FUHAO (author) / LI JING (author)

    Publication date :

    2021-11-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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