Intelligent Vehicle Path Planning And Tracking In Expressway Environment

Traditionally,people are the weakest and most unstable in the"man-vehicle-road" road traffic system.86.60%of traffic accidents in China are caused by driver's behavioral negligence.In order to improve driving safety and reduce the impact of people in the traffic system,driverless vehicles have been widely promoted.This paper does some research on the path planning and tracking of driverless vehicles in expressway environment.The specific contents are as follows:(1)The six-degree-of-freedom vehicle system dynamics model and tire model are established.The established model is built with MATLAB/Simulink.Under the same input,the output of CarSim software is used to verify the accuracy of the vehicle model.(2)Based on the established vehicle model,combined with constraints and objective functions,the linear time-varying model predictive control algorithm is deduced,and the model predictive control trajectory tracking controller is established.MATLAB/Simulink and CarSim joint simulation platform is used to verify the tracking ability of the controller for double-lane-shifting trajectory.(3)Expanding the traditional artificial potential field method,establishing road model and obstacle vehicle model based on expressway environment,planning vehicle lane maintenance and obstacle avoidance trajectory,verifying the feasibility of planning trajectory and tracking accuracy of trajectory tracking controller through MATLAB/Simulink and CarSim joint simulation platform.(4)Based on MotoTron controller development platform,the designed controller is compiled and written into ECU.The real-time system of NI company is selected to build hardware-in-the-loop test platform.Hardware-in-the-loop test is carried out with CarSim RT module to verify the tracking ability of the designed controller to reference trajectory in real ECU.