动态优化在自动驾驶汽车运动控制中的应用

IF 0.5 Q4 TRANSPORTATION SCIENCE & TECHNOLOGY Transport Problems Pub Date : 2023-06-30 DOI:10.20858/tp.2023.18.2.18

M. Brzozowski, Ł. Drąg

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引用次数: 0

摘要

本文提出了一种可用于自动驾驶汽车运动规划和控制的程序算法和车辆动力学模型。对三自由度自行车简化模型和十自由度空间模型的仿真结果进行了比较。对两种模型的数值效率进行了评价。制定了动态优化任务，求解了该任务的动态优化方案，实现了变道和超车操作。使用自行车模型求解任务，并使用空间模型验证结果(预定机动的实现)。

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APPLICATION OF DYNAMIC OPTIMIZATION FOR AUTONOMOUS VEHICLE MOTION CONTROL

This article presents a procedure algorithm and vehicle dynamics models that can be applied to planning and controlling the motion of an autonomous car. The simulation results obtained using a simplified bicycle model with three degrees of freedom and a spatial model with 10 degrees of freedom were compared. The numerical efficiency of both models was evaluated. The task of dynamic optimization was formulated, the solution to which enables the implementation of lane change and overtaking maneuvers. The task was solved using the bicycle model, and the results (implementation of the intended maneuver) were validated using the spatial model.

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来源期刊

Transport Problems TRANSPORTATION SCIENCE & TECHNOLOGY-

CiteScore

1.90

自引率

14.30%

发文量

审稿时长

48 weeks

期刊介绍： Journal Transport Problems is a peer-reviewed open-access scientific journal, owned by Silesian University of Technology and has more than 10 years of experience. The editorial staff includes mainly employees of the Faculty of Transport. Editorial Board performs the functions of current work related to the publication of the next issues of the journal. The International Programming Council coordinates the long-term editorial policy the journal. The Council consists of leading scientists of the world, who deal with the problems of transport. This Journal is a source of information and research results in the transportation and communications science: transport research, transport technology, transport economics, transport logistics, transport law.