| 引用本文: | 戴启坤,刘俊,郭洪艳,陈虹,孙义.基于混合整数规划的智能车横纵向一体化滚动优化决策[J].控制理论与应用,2024,41(1):21~29.[点击复制] |
| DAI Qi-kun,LIU Jun,GUO Hong-yan,CHEN Hong,SUN Yi.Longitudinal and lateral integrated moving horizon decision making of intelligent vehicle based on mixed integer programming[J].Control Theory and Technology,2024,41(1):21~29.[点击复制] |
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| 基于混合整数规划的智能车横纵向一体化滚动优化决策 |
| Longitudinal and lateral integrated moving horizon decision making of intelligent vehicle based on mixed integer programming |
| 摘要点击 1369 全文点击 2095 投稿时间：2021-12-01 修订日期：2023-10-17 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2022.11179 |
| 2024,41(1):21-29 |
| 中文关键词 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 |
| 英文关键词 decision making mixed integer programming model predictive control longitudinal and lateral integrated decision making model automated vehicle |
| 基金项目 国家自然科学基金项目(U19A2069, 61790563), 吉林省科学技术厅项目(20200401088GX, 20200501011GX)资助. |
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| 中文摘要 |
| 本文针对智能车辆的行为决策问题, 设计了基于混合整数规划的智能车横纵向一体化滚动优化决策方法.
该方法首先将纵向车速表示为非整数, 将期望车道表示为整数控制量, 建立了混合整数智能车决策简化模型; 然后,
设计了横纵向一体化滚动优化决策方法, 决策出纵向车速和换道动作, 根据系统输出与非线性约束的时域关系证明
了优化问题的递归可行性并通过遗传算法求解非线性混合整数规划优化问题. 基于车辆动力学仿真软件veDYNA
和Simulink进行了联合仿真, 并在红旗E-HS3智能车上开展了实车试验, 结果表明, 本文提出的基于混合整数规划的
智能车横纵向一体化决策方法能够实现超车、避障、跟车、停车和弯道工况下的行为决策. |
| 英文摘要 |
| 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 intelligent
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 making
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 simulation
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. |
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