Vehicle automatic lane changing control method
Vehicle automatic lane changing control method
- Neue Suche nach: JIANG CHAOYANG
- Neue Suche nach: JIA YIFEI
- Neue Suche nach: SHENG SHUXUAN
- Neue Suche nach: WANG KANG
- Neue Suche nach: WANG XINGQI
- Neue Suche nach: JIANG CHAOYANG
- Neue Suche nach: JIA YIFEI
- Neue Suche nach: SHENG SHUXUAN
- Neue Suche nach: WANG KANG
- Neue Suche nach: WANG XINGQI
The invention discloses a vehicle automatic lane changing control method, which comprises the following steps of S1, constructing a double-lane five-vehicle road scene model, and defining pose coordinates and a state space of a vehicle; and S2, constructing a control strategy from three aspects of traceability, safety and comfort, and completing a trajectory tracking task, wherein the step comprises four sub-steps of traceability performance design, safety performance design, comfort performance design and controller design. According to the vehicle automatic lane changing control method, theautomatic lane changing capacity in the road environment can be provided for the vehicle, the lane changing controller is designed through model prediction control, the road scene model is constructed, and coordination of the vehicle tracking performance, the safety performance and the comfort performance is achieved.
本发明公开了一种车辆自动换道控制方法，包括以下步骤：S1.构建双车道五车道路场景模型，并定义车辆的位姿坐标和状态空间；S2.从跟踪性、安全性和舒适性三个方面对于控制策略进行构建并完成轨迹跟踪的任务，包括跟踪性能设计、安全性能设计、舒适性能设计和控制器设计四个子步骤。本发明提供的车辆自动换道控制方法，能够给与车辆进行道路环境中自动换道的能力，并通过模型预测控制设计换道控制器，构建道路场景模型，实现了车辆跟踪性能、安全性能和舒适性能三方面的协调。
Dokumentinformationen
Vehicle automatic lane changing control method
一种车辆自动换道控制方法
2021-03-02
Patent
Elektronische Ressource
Chinesisch
| IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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