Research On The Automatic Overtaking Control Method Based On The Improved Artificial Potential Field

In recent years,autonomous technology has set off a huge wave of development in the automotive field,and its development status and prospects have been widely concerned from all walks of life.As a high-speed intelligent robot,autonomous vehicle can sense the surrounding environment and make corresponding driving decisions.Through reasonable path planning and path tracking,autonomous vehicles can independently or cooperatively complete the scheduled tasks and reach the set destination.In order to overcome the safety problems caused by vehicle collision on Expressway,based on artificial potential field and model predictive control theory,an automatic controller design method is proposed to keep the autonomous vehicle running without collision.The details are as follows:Firstly,on the premise of necessity,the kinematic model and dynamic model of the vehicle are constructed.The kinematic model is used as the prediction model of path planning,and the dynamic model is used as the tracking module.The two models show the kinematic and dynamic characteristics of the vehicle respectively.Secondly,the traditional theory of artificial potential field is analyzed,and its advantages and disadvantages are expounded.On this basis,an artificial potential field suitable for vehicles is constructed.According to the vehicle driving characteristics and road boundary conditions,the road potential field satisfying the vehicle safety driving constraints is constructed.In the past research,there is a problem that the speed and direction of the main vehicle and obstacles are ignored if the obstacles are static.In order to solve this problem,a dynamic obstacle potential field model is proposed,which focuses on the speed and direction of the controlled vehicle and obstacles.Thirdly,the vehicle stability constraints are derived and the stability constraints are obtained.Then,a path planner for dynamic obstacles is designed,and the boundary strategy of step function is introduced to ensure the safety of the main vehicle and obstacles,so as to optimize and improve the path planning module.In addition,in order to ensure that the vehicle can drive stably and safely along the planned path,the path tracking module will be designed by combining model predictive control and vehicle dynamics.Finally,the CarSim/Simulink co simulation platform is built.Aiming at four test scenarios,the automatic controller is modeled and simulated on the simulation platform to verify the effectiveness of the automatic controller.This paper takes autonomous vehicles as the research object,and the control problem of lane changing and overtaking under obstacle avoidance condition is studied.The research results of this paper provide the reference and thinking of basic theories and methods for the realization of intelligent obstacle avoidance and lane changing overtaking of autonomous vehicles.