混蛋
避碰
控制理论(社会学)
弹道
加速度
碰撞
超车
工程类
车辆动力学
计算机科学
模拟
偏移量(计算机科学)
汽车工程
控制(管理)
人工智能
天文
程序设计语言
计算机安全
土木工程
物理
经典力学
作者
Guoqing Geng,Guangshuai Cheng,Chang‐Kui Duan,Xuefeng Jiao
标识
DOI:10.1080/00423114.2023.2300266
摘要
This paper proposes an optimal lane-changing and control strategy to solve the collision avoidance of intelligent vehicles in highway driving. A quintic polynomial lane-changing trajectory model is established in the Frenet frame, and the trajectory planning problem is transformed into the optimisation problem of lane-changing target coordinates. To consider the multiple environmental factors on vehicle lane-changing, the feasible region of the lane-changing target point was generated based on the lateral acceleration limitation and the safe distance constraints. The performance evaluation indexes were established, considering efficiency, comfort, lateral slip, and lane offset. The multi-objective optimisation problem is solved in the feasible region, and the optimisation results were applied to the collision detection process. In addition, considering the nonlinear characteristics of tire force caused by sudden lateral movements of vehicles at high-speed, a vehicle dynamics model based on the Magic Formula is established, and Model Predictive Control is applied to track the expected trajectory. Simulation results show that this strategy can plan suitable lane-changing trajectories in high-speed working conditions and achieve vehicle collision avoidance.
科研通智能强力驱动
Strongly Powered by AbleSci AI