基于改进人工势场法的智能车辆超车路径规划研究

摘要

为提高智能车辆的行车安全性,基于人工势场法,通过分析超车驾驶行为规律,建立超车最小纵向安全距离及其约束模型,提出新型障碍物虚拟力场作用域,引入基于前车工况的斥力系数和调节因子,设立虚拟局部目标点,建立了改进的路径规划模型.利用MATLAB和CarSim软件联合建立基于模型预测控制的路径跟踪仿真平台,对改进模型进行了验证.仿真结果表明,改进的路径规划模型安全有效地实现了智能车辆的超车行为.%To improve the driving safety of intelligent vehicle, the shortest longitudinal safety distance and constraint model of overtaking was constructed by analyzing the law of overtaking driving behavior, based on artificial potential field. A new virtual force field action scope of obstacle was proposed, and the repulsive force coefficient based on the front vehicle operating conditions and adjust factor were introduced and a virtual local target point theory was built, thus an improved path planning model was established. Using MATLAB and CarSim, a path tracking simulation platform based on Model Predictive Control(MPC)was established,which verified the improved path planning model. The simulation result show that the improved path planning mode can make the intelligent vehicle achieve overtaking behavior safely and effectively.