关键词: 车辆工程, 无人驾驶车辆, 轨迹跟踪, 人工势场, 模型预测

Abstract: In view of the imperfection of road potential field when the traditional artificial potential field method was applied in driverless vehicle path planning, an improved artificial potential field model was proposed to obtain the obstacle avoidance trajectory. Firstly, combined with the change of potential energy in the road, the gravitational potential field was improved; the elliptical repulsion potential field was increased to replace the traditional repulsion potential field; the road boundary repulsion potential field was increased to ensure that the vehicle would not drive out of the boundary; the speed potential field of obstacles was increased to improve the rationality of the obstacle. At the same time, a three-degree-of-freedom vehicle dynamics model was established, and the model predictive control algorithm was used for tracking control. The research results show that the improved artificial potential has a good obstacle avoidance path planning, and meets the dynamic constraints in all aspects at the same time. The rotation angle change is within ±3°, and the maximum lateral acceleration is 4.54 m/s2<0.67 μg, which ensures the driving stability and comfort of the planned path.

Key words: vehicle engineering, unmanned vehicle, trajectory tracking, artificial potential field, model prediction