【作者】 江威； 徐国艳； 林小敏； 丁能根； 高峰；

【Author】 Jiang Wei;Xu Guoyan;Lin Xiaomin;Ding Nenggen;Gao Feng;School of Transportation Science and Engineering,Beihang University;

【机构】 北京航空航天大学交通科学与工程学院；

【摘要】 本文针对智能汽车最危险行为之一的超车换道自主行驶问题,引入碰撞时间决策超车换道,并重点对超车轨迹规划和轨迹跟踪问题进行了研究。首先提出了基于汽车二自由度模型的计算速度快、实用性强且超车快速的四次多项式轨迹规划方法,然后采用了基于最优控制理论的横向控制器和设计了基于模糊逻辑的纵向控制器完成轨迹跟踪,最后通过PreScan和Matlab/Simulink软件对提出的方法进行了协同仿真分析并证明了轨迹规划和跟踪方法的有效性。更多还原

【Abstract】 The approach here describes one of the riskiest autonomous maneuvers involving vehicle-overtaking,introduces time to collision to trigger the autonomous overtaking maneuver and place much attention on overtaking trajectory planning and tracking problems.This paper first presents a fourth order polynomial trajectory planning method based on 2 degree vehicle dynamic model,which is fast in computational speed,practical and quick in overtaking.Then a lateral controller based on the optimal control theory and a longitudinal controller based on fuzzy logic are presented to track the designed trajectory.Finally the trajectory planning and tracking methods are validated to be effective based on the simulation analysis in the PreScan and Matlab/Simulink software.更多还原