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

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

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.