智能汽车紧急工况避撞轨迹规划

doi:10.13229/j.cnki.jdxbgxb20210118

摘要/Abstract

摘要：

针对现有轨迹规划方法强制性的稳定性约束导致车辆避撞潜能得不到充分利用，进而无法为智能汽车在某些临界工况下规划出有效避撞轨迹的实际问题，提出了紧急工况的概念及界定方法，基于最优控制理论，综合了非线性车辆动力学模型、稳定域信息和环境信息，同时考虑车辆转向执行机构的饱和约束，开发了智能汽车紧急工况避撞轨迹规划方法。仿真结果表明，本方法能够准确规划出紧急工况下车辆临界稳定状态时的安全避撞轨迹，且在不同路面上均有良好的适用性，为智能汽车的避撞控制系统开发提供了有力的理论支持。

关键词: 交通运输系统工程, 智能汽车, 紧急工况, 轨迹规划

Abstract:

The mandatory stability constraints of the existing trajectory planning methods lead to insufficient utilization of the vehicle's collision avoidance potential. This makes it impossible to plan an effective collision avoidance trajectory for intelligent vehicles under certain critical conditions. Aiming at this practical problem， this paper proposes the concept and definition method of emergency conditions， and based on the optimal control theory， integrates nonlinear vehicle dynamics model， stability domain information and environmental information， and considers the saturation constraints of the vehicle steering actuator to develop a method for planning the collision avoidance trajectory of intelligent vehicles under emergency conditions. The simulation results show that this method can accurately plan the safe collision avoidance trajectory when the vehicle is in a critical steady state under emergency conditions， and it has good applicability on different roads， which provides strong theoretical support for the development of collision avoidance control systems for intelligent vehicles.

Key words: transportation system engineering, intelligent vehicle, emergency conditions, trajectory planning

中图分类号:

U491

张玮,张树培,罗崇恩,张生,王国林. 智能汽车紧急工况避撞轨迹规划[J]. 吉林大学学报(工学版), 2022, 52(7): 1515-1523.

Wei ZHANG,Shu-pei ZHANG,Chong-en LUO,Sheng ZHANG,Guo-lin WANG. Collision avoidance trajectory planning for intelligent vehicles in emergency conditions[J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(7): 1515-1523.

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参考文献 11

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工况	道路附着系数	车速/ （km·h^-1）	方向盘输入幅值/（°）
I	0.8	120	20
II	0.8	120	120
III	0.3	80	20
IV	0.3	80	120

参数	单位	值
m	kg	1723
l_f	m	1.232
l_r	m	1.468
I_z	kg·m²	4175
b	m	1.988
d_f	m	1.8
d_r	m	2.2
τ	-	1.02
D_s	m	0.1