避障
弹道
控制理论(社会学)
障碍物
避碰
计算机科学
模型预测控制
控制器(灌溉)
五次函数
跟踪(教育)
跟踪误差
车辆动力学
控制(管理)
碰撞
工程类
机器人
移动机器人
人工智能
非线性系统
汽车工程
计算机安全
教育学
法学
生物
心理学
量子力学
政治学
农学
物理
天文
作者
Jianjun Hu,Soo-Yeong Yi,Pengxing Zhu,Zheng Sun
标识
DOI:10.1177/09544070231204390
摘要
To enhance the obstacle avoidance performance and trajectory tracking control stability of vehicles in emergency scenarios, and to solve the problem that the existing decision-making methods based on the minimum safe distance model cannot effectively make decisions in some scenarios, a novel lane-changing obstacle avoidance decision-making and control method is proposed. Initially, when emergency braking cannot avoid obstacles safely, the lane-changing trajectory is planned by quintic polynomial, and the minimum distance and collision detection (MDCD) algorithm is then employed to ascertain whether the lane-changing trajectory meets the safety conditions. Subsequently, a Linear Time-Varying Model Predictive Control (LTV MPC) trajectory tracking controller is designed based on the 7-DOF vehicle dynamics model. Finally, the effectiveness of the proposed method is verified through two representative scenarios. The simulation results indicate that the MDCD algorithm can ensure the safety and effectiveness of obstacle avoidance decisions in all emergency obstacle avoidance scenarios, and when tracking the emergency lane-changing trajectory in different typical scenarios, compared with the LTV MPC controller based on the single-track vehicle dynamics model (STVDM), the maximum tracking error can be reduced by 50.7% and 60.1%, respectively, while ensuring near-equivalent real-time performance operation.
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