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

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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.

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基于车辆行驶安全边界的换道控制

Lane Change Control Based on Vehicle Driving Safe Boundary

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