Dynamic Path Planning of Intelligent Vehicle Overtaking Lane Change Based on DQP-LMPC

doi:10.3901/JME.2024.10.171

Abstract

Abstract: In order to realize a safe, comfortable and efficient overtaking lane changing path for intelligent vehicles, a dynamic path planning model for overtaking lane changing is proposed based on the combination of double quintic polynomial and linear time-varying model predictive control for two-way dual lanes. First of all, based on the quintic polynomial for the initial planning and improvement research, considering the coming traffic lane, the establishment of double quintic polynomial for overtaking lane change path planning; Secondly, based on the condition of vehicle network connection, the position and speed information of the vehicle in front of the lane and the vehicle in front of the opposite lane are obtained, and the safety interval of lane changing decision is analyzed and calculated to ensure the safety of the whole process of overtaking and lane changing. Finally, based on the two-degree-of-freedom vehicle model, a linear time-varying model prediction controller is established to control the path tracking of the model. The simulation results show that, under the three working conditions of stationary obstacle in front and non-opposing vehicle, dynamic obstacle in front, non-opposing vehicle and dynamic obstacle in front and incoming vehicle in opposite lane, lateral acceleration, yaw velocity, side angle acceleration and transverse and longitudinal spacing are used as indicators for evaluation. The final planning algorithm can successfully plan the safe, efficient and comfortable path of overtaking and lane changing, which indicates that the model has certain application value.

Key words: intelligent driving, path planning, dynamic programming, passing lane change, double quintic polynomial

CLC Number:

U461

HU Lin, YANG Dongzhao, ZHANG Xin, ZHANG Jie, LIAO Jiacai. Dynamic Path Planning of Intelligent Vehicle Overtaking Lane Change Based on DQP-LMPC[J]. Journal of Mechanical Engineering, 2024, 60(10): 171-181.

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