基于车辆行驶安全边界的换道控制

doi:10.3901/JME.2020.18.143

机械工程学报 ›› 2020, Vol. 56 ›› Issue (18): 143-153.doi: 10.3901/JME.2020.18.143

扫码分享

基于车辆行驶安全边界的换道控制

王慧然, 王其东, 陈无畏, 赵林峰, 魏振亚, 蔡必鑫

合肥工业大学汽车与交通工程学院合肥 230009

收稿日期:2019-08-06 修回日期:2020-03-18 出版日期:2020-09-20 发布日期:2020-11-17
通讯作者: 王其东(通信作者),男,1964年出生,博士,教授,博士研究生导师。主要研究方向为现代车辆动力学及其控制、辅助驾驶和自动驾驶技术。E-mail:qidongwang1964@163.com
作者简介:王慧然,男,1991年出生,博士研究生。主要研究方向为车辆动力学与控制技术和自动驾驶技术。E-mail:wanghuiran7@163.com;陈无畏,男,1951年出生,博士,教授,博士研究生导师。主要研究方向为车辆动力学与控制、辅助驾驶和自动驾驶技术,发表论文300余篇。E-mail:hfgdcjs@126.com
基金资助:
国家自然科学基金资助项目（51675151，U1564201）。

Lane Change Control Based on Vehicle Driving Safe Boundary

WANG Huiran, WANG Qidong, CHEN Wuwei, ZHAO Linfeng, WEI Zhenya, CAI Bixin

School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009

Received:2019-08-06 Revised:2020-03-18 Online:2020-09-20 Published:2020-11-17

摘要/Abstract

摘要： 针对大多数换道控制研究中存在的换道环境不同致使换道安全性难以保证的问题，提出一种基于车辆行驶安全边界的换道控制方法。首先，根据自车与周围关联车辆之间的换道空间和碰撞时距，设计换道状态决策方法。其次，基于车-路位置关系和车辆安全矩形区域建立车辆位置安全边界；同时基于换道行驶稳定性限制和不同换道状态下的横摆角速度要求，建立与换道状态相对应的车辆运动状态安全边界。将车辆位置安全边界和车辆行驶安全边界作为车辆换道行驶状态参数的约束，以目标车道中心线为参考轨迹，设计模型预测控制器决定车辆换道的期望前轮转角。最后，进行自动换道仿真，并基于Carsim/Labview的硬件在环试验台上进行硬件在环试验，仿真和试验结果表明，提出的换道控制方法可以充分地利用换道空间，能使车辆更好地应对不同换道环境，提高了车辆换道的安全性和舒适性。

关键词: 换道控制, 安全边界, 模型预测, 硬件在环

Abstract: According to the shortcoming that safety of lane change is difficult to ensure for different lane changing environments in most lane change studies, a lane change control method based on vehicle driving safe boundary is proposed to solve this problem. Firstly, accounting for the lane change space and the collision time interval between the self-vehicle and the surrounding associated vehicles, the lane change state decision is designed. Secondly, the vehicle position safe boundary considering the vehicle-road position relationship and the vehicle safe rectangular area is established. Based on the driving stability limit and the requirements of yaw rate in different lane changing states, a safe boundary of the vehicle motion state corresponding to the lane changing states is established. Then, the vehicle position safe boundary and the safe boundary of the vehicle motion state are used as constraints of the vehicle lane changing state parameters, and the centerline of target lane is used as reference trajectory. A model predictive controller that determines the desired front wheel steering angle of lane change is designed. Finally, lane change simulation is carried out, and the HIL test is implemented on the HIL test bench based on CarSim/LabVIEW. The simulation and test results show that the proposed method can control the vehicle better cope with different lane changing environments by making full use of the lane change space, and can improve the safety and comfort of lane changing.

Key words: lane change control, safe boundary, model prediction, hardware in the loop

中图分类号:

U461

王慧然, 王其东, 陈无畏, 赵林峰, 魏振亚, 蔡必鑫. 基于车辆行驶安全边界的换道控制[J]. 机械工程学报, 2020, 56(18): 143-153.

WANG Huiran, WANG Qidong, CHEN Wuwei, ZHAO Linfeng, WEI Zhenya, CAI Bixin. Lane Change Control Based on Vehicle Driving Safe Boundary[J]. Journal of Mechanical Engineering, 2020, 56(18): 143-153.

参考文献

[1] BENGLER K,DIETMAYER K,FARBER B,et al. Three decades of driver assistance systems:Review and future perspectives[J]. IEEE Intelligent Transportation Systems Magazine,2014,6(4):6-22.
[2] SCARBORO M,RUDD R,SOCHOR M. National highway traffic safety administration[J]. Public Health Reports,2012,102(6):667-668.
[3] 孙扬,熊光明,陈慧岩,等. 基于混沌理论的无人驾驶车辆行驶轨迹量化分析[J]. 机械工程学报,2016,52(2):127-133. SUN Yang,XIONG Guangming,CHEN Huiyan,et al. Quantitative analysis of unmanned ground vehicles trajectories based on chaos theory[J]. Journal of Mec-hanical Engineering,2016,52(2):127-133.
[4] NILSSON J,BRANNSTOM M,COELINGH E,et al. Lane change maneuvers for automated vehicles[J]. IEEE Transactions on Intelligent Transportation Systems,2017,18(5):1087-1096.
[5] LIE G,PING G,MING Y,et al. Lane changing trajectory planning and tracking controller design for intelligent vehicle running on curved road[J]. Mathematical Pro-blems in Engineering,2014,2014:1-9.
[6] WANG L,ZHAO X,SU H,et al. Lane changing trajectory planning and tracking control for intelligent vehicle on curved road[J]. Springer Plus,2016,5(1):1150.
[7] LI X,SUN Z,CAO D,et al. Development of a new integrated local trajectory planning and tracking control framework for autonomous ground vehicles[J]. Mechanical Systems & Signal Processing,2017,87:118-137.
[8] GAO Y,LIN T,BORRELI F,et al. Predictive control of autonomous ground vehicles with obstacle avoidance on slippery roads[C]//ASME 2010 Dynamic Systems and Control Conference. American Society of Mechanical Eng-ineers,2010:265-272.
[9] DAVID G,JOSHUE P,LATTARULO R,et al. Continuous curvature planning with obstacle avoidance capabilities in urban scenarios[C]//17th International IEEE Conference on Intelligent Transportation Systems (ITSC). IEEE,2014:1430-1435.
[10] JI J,KHAJEPOUR A,MELEK W W,et al. Path planning and tracking for vehicle collision avoidance based on model predictive control with multiconstraints[J]. IEEE Transactions on Vehicular Technology,2017,66(2):952-964.
[11] 王其东,王金波,陈无畏,等. 基于汽车行驶安全边界的EPS与ESP协调控制策略[J]. 机械工程学报,2016,52(6):99-107. WANG Qidong,WANG Jinbo,CHEN Wuwei,et al. Coordinated control strategy of EPS and ESP based on vehicle driving safe boundary[J]. Journal of Mechanical Engineering,2016,52(6):99-107.
[12] CAIRANO S D,TSENG H E,BERNARDINI,D,et al. Vehicle yaw stability control by coordinated active front steering and differential braking in the tire sideslip angles domain[J]. IEEE Transactions on Control Systems Technology,21(4):1236-1248.
[13] 党睿娜. 具有换道辅助功能的车辆自适应巡航控制[D]. 北京:清华大学,2013. DANG Ruina. Vehicular adaptive cruise control with lane change assist[D]. Beijing:Tsinghua University,2013.
[14] ZHOU B,WANG Y,YU G,et al. A lane-change trajectory model from drivers' vision view[J]. Tran-sportation Research Part C:Emerging Technologies,2017,85:609-627.
[15] BAI H,SHEN J,WEI L,et al. Accelerated lane-changing trajectory planning of automated vehicles with vehicle-to-vehicle collaboration[J]. Journal of Advanced Transportation,2017,2017(3):1-11.
[16] BOBIER C G,GERDES J C. Staying within the nullcline boundary for vehicle envelope control using a sliding surface[J]. Vehicle System Dynamics,2013,51(2):199-217.
[17] BOBIER C G,GERDES J C. Sliding surface vehicle envelope control:A cooperative design between controller and envelope[C]//2012 American Control Conference (ACC). IEEE,2012:6521-6526.
[18] BEAL C E,GERDES J C. Model predictive control for vehicle stabilization at the limits of handling[J]. IEEE Transactions on Control Systems Technology,2013,21(4):1258-1269.
[19] SINGH A,SINGH P,NISHIHARA O. Obstacle avoidance by steering and braking with minimum total vehicle force[J]. IFAC-PapersOnLine,2016,49(19):486-493.
[20] LEE J,CHOI J,YI K,et al. Lane-keeping assistance control algorithm using differential braking to prevent unintended lane departures[J]. Control Engineering Practice,2014,23:1-13.

基于车辆行驶安全边界的换道控制

Lane Change Control Based on Vehicle Driving Safe Boundary

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	柳晨光, 初秀民, 毛庆洲, 谢朔. 无人船自适应路径跟踪控制系统[J]. 机械工程学报, 2020, 56(8): 216-227.
[2]	胡晓松, 陈科坪, 唐小林, 王斌. 基于机器学习速度预测的并联混合动力车辆能量管理研究[J]. 机械工程学报, 2020, 56(16): 181-192.
[3]	唐小林, 李珊珊, 王红, 段紫文, 李以农, 郑玲. 网联环境下基于分层式模型预测控制的车队能量控制策略研究[J]. 机械工程学报, 2020, 56(14): 119-128.
[4]	王艺, 蔡英凤, 陈龙, 王海, 何友国, 李健. 基于模型预测控制的智能网联汽车路径跟踪控制器设计[J]. 机械工程学报, 2019, 55(8): 136-144,153.
[5]	孙瑞松. 基于RT-LAB的微电网运行控制硬件在环仿真[J]. 电气工程学报, 2019, 14(4): 85-92.
[6]	闫涵,吕建国,丁金勇,马丙辉,阎亦然. 非理想电网下NPC三电平逆变器多目标模型预测控制方法研究 ^*[J]. 电气工程学报, 2019, 14(3): 23-32.
[7]	林程, 曹放, 梁晟, 高翔, 董爱道. 双电机后驱车辆操纵稳定性分层混杂模型预测控制[J]. 机械工程学报, 2019, 55(22): 123-130.
[8]	赵治国, 倪润宇, 姜斯文, 雷丹. DCT变速四驱HEV混动至纯电动模式切换优化控制[J]. 机械工程学报, 2019, 55(22): 140-152.
[9]	高振刚, 陈无畏, 谈东奎, 赵林峰, 汪洪波. 考虑驾驶员操纵失误的车道偏离辅助人机协同控制[J]. 机械工程学报, 2019, 55(16): 91-103.
[10]	张风奇, 胡晓松, 许康辉, 唐小林, 崔亚辉. 混合动力汽车模型预测能量管理研究现状与展望[J]. 机械工程学报, 2019, 55(10): 86-108.
[11]	韩玲, 刘鸿祥, 王金武, 刘畅. 基于MPC的无级变速器控制优化策略研究[J]. 机械工程学报, 2019, 55(10): 158-167.
[12]	张永昌,焦健,刘杰. 电压型PWM整流器无模型预测电流控制[J]. 电气工程学报, 2018, 13(6): 1-6.
[13]	张永昌,蔡倩,彭玉宾,杨海涛. 带参数辨识功能的三电平变换器高效模型预测控制方法[J]. 电气工程学报, 2018, 13(4): 1-10.
[14]	赵林峰, 从光好, 邵文彬, 陈无畏. 线控转向车辆转向盘转矩特性研究[J]. 机械工程学报, 2018, 54(24): 138-146.
[15]	朱敏, 陈慧岩. 无人驾驶越野车辆纵向速度跟踪控制试验[J]. 机械工程学报, 2018, 54(24): 111-117.