In order to ensure the safety and lateral stability of the vehicles during the collision avoidance process,this paper proposes a collision avoidance trajectory planning and predictive tracking control method for vehicles based on adaptive potential field.Firstly,the vehicle point mass model is established,the adaptive potential field function is designed and the nonlinear model predictive control problem is constructed to solve the locally optimal trajectory.Secondly,the vehicle lateral stability performance is analyzed,the phase plane constraint and indirect constraint are designed,and the trajectory tracking controller is designed based on the model predictive control method to realize the locally optimal trajectory tracking.The joint simulation of CarSim and Simulink verifies that the proposed method can improve the lateral stability performance of the vehicle while avoiding collision.At the meanwhile,the real-time and effectiveness of the method are further proved by real vehicle tests.
关键词
自动驾驶车辆/避撞控制/模型预测控制/势场函数
Key words
Autonomous vehicles/Collision avoidance control/Model predictive control/Potential field function
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