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J. Hefei Univ. Tech. (Nat. Sci.)

合肥工业大学学报(自然科学版)

JOURNAL OF HEFEI UNIVERSITY OF TECHNOLOGY (NATURAL SCIENCE)

Competent Authorities: Ministry of Education of the People's Republic of China

Sponsor by: Hefei University of Technology

ISSN 1000-1646, CN 34-1001/N

Research on active collision avoidance control algorithm for intelligent vehicles in longitudinal and lateral directions

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智能汽车纵横向主动避撞控制算法研究

Journal Information

J. Hefei Univ. Tech. (Nat. Sci.), Mar.2025, Vol.48 No.3: 289-296

DOI: 10.3969/j.issn.1003-5060.2025.03.001

Authors

WANG Xinqing, WANG Jirong, YANG Zhenyu, CUI Junguo, ZOU Yupeng (School of Mechanical and Electrical Engineering, China University of Petroleum

(East China), Qingdao 266580, China)

Abstract and Keywords

Abstract: Aiming at the problems of unreasonable collision avoidance trajectory planning, insufficient trajectory tracking accuracy and poor vehicle stability in the current intelligent vehicle active collision avoidance system, a trajectory planning algorithm based on quintic polynomial and a trajectory tracking control algorithm based on model predictive control theory were designed. When using the longitudinal collision avoidance method, the longitudinal reference velocity is planned based on Newton's laws of motion. When using the lateral collision avoidance method, the lateral reference position and reference yaw angle are planned based on a quintic polynomial. Based on the seven-degree-of-freedom vehicle dynamics model considering the nonlinear working area of tires, the vehicle yaw stability and roll stability are considered, and the longitudinal speed, lateral position and yaw angle of the vehicle are taken as inputs. A joint simulation platform was built in PreScan/CarSim/Simulink to verify the rationality of the designed collision avoidance trajectory planning algorithm, the effectiveness of tracking accuracy of trajectory tracking control algorithm, and the vehicle handling stability during collision avoidance.

Keywords: collision avoidance trajectory planning; collision avoidance trajectory tracking; quintic polynomial; model predictive control; real-world simulation

作者信息

王新庆，王继荣，杨振宇，崔俊国，邹宇鹏

（中国石油大学（华东）机电工程学院，山东青岛266580）

摘要和关键词

摘要: 针对目前智能汽车主动避撞系统存在的避撞轨迹规划不合理、轨迹跟踪精度不足及车辆稳定性差的问题, 文章设计一种基于五次多项式的轨迹规划算法和一种基于模型预测控制理论的轨迹跟踪控制算法。在采用纵向避撞方式时, 基于牛顿运动定律规划出纵向参考速度; 在采用横向避撞方式时, 基于五次多项式规划出横向参考位置、参考横摆角; 基于考虑轮胎非线性工作区的七自由度车辆动力学模型, 考虑车辆横摆稳定性和侧倾稳定性, 将车辆纵向速度、横向位置、横摆角作为输入量。在 PreScan/CarSim/Simulink 中搭建联合仿真平台进行仿真验证, 结果证明了所设计的避撞轨迹规划算法的合理性、轨迹跟踪控制算法跟踪精度的有效性以及避撞过程中车辆的操纵稳定性。

关键词: 避撞轨迹规划；避撞轨迹跟踪；五次多项式；模型预测控制；实况仿真

Funding

国家重点研发计划资助项目(2021YFB3401400); 山东省高端制造装备重大科技创新工程资助项目(2017CXGC0902) 和山东省自然科学基金资助项目(ZR2022MF291; ZR2024ME244)

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