Aiming at decision making of intelligent vehicle,longitudinal and lateral integrated moving horizon decision making on intelligent vehicle based on mixed integer programming is designed.Firstly,a simplified mixed integer intelli-gent vehicle decision making model is established,where the longitudinal vehicle speed is expressed as a non-integer,and the desired lane is expressed as an integer input.Then the longitudinal and lateral integrated moving horizon decision mak-ing method is designed,which determines the longitudinal vehicle speed and lane change action.The recursive feasibility of the optimization problem is proved based on the time-domain relationship between the system output and the nonlinear constraints,and the nonlinear mixed integer programming optimization problem is solved by genetic algorithm.The simu-lation verification is carried out in vehicle dynamics simulation software veDYNA and Simulink,and the experiment was carried out on the Hongqi E-HS3 intelligent vehicle.The results show that the longitudinal and lateral integrated moving horizon decision making on intelligent vehicle based on mixed integer programming proposed in this paper can realize decision making in overtaking,obstacle avoidance,following,stopping and curve scenarios.
关键词
决策/混合整数规划/模型预测控制/横纵向一体化/决策模型/自动驾驶
Key words
decision making/mixed integer programming/model predictive control/longitudinal and lateral integrated/decision making model/automated vehicle
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