超车
弹道
控制理论(社会学)
障碍物
控制器(灌溉)
避障
模型预测控制
计算机科学
模拟
控制(管理)
工程类
移动机器人
机器人
人工智能
农学
物理
土木工程
天文
法学
政治学
生物
作者
Rong Yang,Lin Yuan Yang,Wenxin Huang,Jingbiao Huang
标识
DOI:10.1177/09544070231168305
摘要
Aiming at the speed change of obstacle vehicles in the process of autonomous ground vehicle (AGV) overtaking on two-lane highways, an overtaking control method including trajectory planning and trajectory control is proposed. First, the reference overtaking trajectory of the AGV is planned in stages (lane changing, passing and merging) using fifth order polynomials satisfying stability and comfort constraints. The initial planning trajectory may be unsafe due to the speed change of obstacle vehicles. So a collision prediction algorithm is built to predict two kinds of dangerous situations in real time: AGV collides with the leading vehicle during lane changing, and AGV collides with the oncoming vehicle during merging. Secondly, the potential field of the obstacle vehicles embedded with the relative speed is established and combined with the road potential field as the risk indicator. Then, combining the nonlinear model predictive control algorithm and risk index, the overtaking trajectory is replanned in real time with the initial trajectory as reference. Finally, a lateral path tracking controller based on model predictive control and a longitudinal speed tracking controller based on sliding mode control are established to track the planned trajectory rapidly and stably. To verify the performance of the proposed method, overtaking in three cases is simulated, and vehicle responding curves are obtained. The results show that the proposed control method can achieve safe and stable overtaking.
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