吉林大学学报(工学版) ›› 2023, Vol. 53 ›› Issue (3): 693-703.doi: 10.13229/j.cnki.jdxbgxb20220897

• 通信与控制工程 • 上一篇    

复杂场景智能车辆车道与速度一体化滚动优化决策

郭洪艳1,2(),于文雅1,2,刘俊1,2(),戴启坤1,2   

  1. 1.吉林大学 汽车仿真与控制国家重点实验室，长春 130022
    2.吉林大学 通信工程学院，长春 130022
  • 收稿日期:2022-07-15 出版日期:2023-03-01 发布日期:2023-03-29
  • 通讯作者: 刘俊 E-mail:guohy11@jlu.edu.cn;liujun20@jlu.edu.cn
  • 作者简介:郭洪艳（1980-），女，教授，博士. 研究方向：智能车辆决策. E-mail：guohy11@jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(U19A2069);吉林省科学技术厅项目(20200501011GX)

Integrated moving horizon decision⁃making method for lane and speed of intelligent vehicle in complex scenarios

Hong-yan GUO1,2(),Wen-ya YU1,2,Jun LIU1,2(),Qi-kun DAI1,2   

  1. 1.State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
    2.College of Communication Engineering，Jilin University，Changchun 130022，China
  • Received:2022-07-15 Online:2023-03-01 Published:2023-03-29
  • Contact: Jun LIU E-mail:guohy11@jlu.edu.cn;liujun20@jlu.edu.cn

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摘要：

针对智能车在复杂场景下的行车环境理解和行为决策问题，提出了一种智能车辆车道与速度一体化滚动优化决策方法。在复杂场景下建立了车路空间重构模型，得到以不同车道中心线为参考的车辆位置。建立了以非整数的纵向车速和整数的车道序号为控制量的车道与车速一体化模型。对本车与多方向来车的未来轨迹进行安全性分析，将复杂场景下智能车辆车道与速度一体化决策描述为混合整数非线性规划问题。为了验证本文决策方法的有效性，在无保护路口场景下进行汽车动力学仿真软件veDYNA和Simulink的联合仿真，结果表明：本文决策方法面对行驶缓慢、突然切入的周车，能及时做出换道决策；当智能车和周车同时行驶至路口区域时，能够做出减速让行决策，以实现安全行驶。

关键词: 控制理论与控制工程, 车道与速度一体化决策, 滚动优化, 复杂场景, 混合整数规划

Abstract:

Aiming at the problem of intelligent vehicle's driving environment understanding and behavior decision-making in complex scenarios， an integrated moving horizon decision-making method for lane and speed of intelligent vehicle was proposed. To obtain the vehicle positions based on the centerlines of different lanes， the vehicle-road space reconstruction model in complex scenarios and the integrated model of lane and vehicle speed with non-integer longitudinal vehicle speed and integer lane number as control variables was established. The safety of future trajectories of the vehicle and oncoming vehicles from multiple directions was analyzed. The integrated decision-making of lane and speed of intelligent vehicle in complex scenarios was described as a mixed-integer nonlinear programming problem. In order to verify the effectiveness of the integrated moving horizon decision-making method of lane and speed， the joint simulation of the vehicle dynamics simulation software veDYNA and Simulink is carried out in the unprotected intersection scenario. The results show that the decision-making method can change lanes in the face of slow-moving or abruptly cut-in vehicles； for safety, intelligent vehicle can make decisions to slow down and give way, when it and the surrounding vehicles drive to the intersection area at the same time.

Key words: control theory and control engineering, integrated decision-making of lane and speed, moving horizon, complex scenarios, mixed-integer programming

中图分类号: 

  • TP273

图1

智能车辆车道与速度一体化决策框图"

图2

拟合换道曲线"

图3

车路空间重构模型"

图4

行驶区域划分"

图5

前车行驶缓慢工况的仿真结果"

图6

周车突然切入工况的仿真结果"

图7

智能车与周车同时驶入路口工况的仿真结果"

图8

对比实验"

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