关键词: 模型预测控制；人工势场法；路径跟踪；避障路径规划；神经网络；CarSim/Simulink

Abstract: Aiming at the problem of obstacle avoidance path planning for intelligent vehicle, an obstacle avoidance path planning and design method based on improved artificial potential field method is proposed. Firstly, the vehicle speed information is introduced into the traditional repulsive potential field function, the lane center line and road boundary potential field are designed, and the path obstacle avoidance planning controller is designed; Then, aiming at the problem of intelligent vehicle path tracking control, a three-degree-of-freedom vehicle dynamics model is established, and the horizontal and longitudinal tracking controllers are designed by using linear time-varying model predictive control and back propagation-proportional-integral-differential (BP-PID) control algorithm, respectively, to track the lateral position and longitudinal velocity of the vehicle; Finally, based on the CarSim/Simulink co-simulation platform, the validity of the design method is verified in the double line shifting condition and the straight line condition. The simulation results show that the safe and reliable obstacle avoidance path can be obtained by using the improved artificial potential field method, and the designed horizontal and longitudinal tracking controller has good tracking performance.

Key words: Model predictive control; Artificial potential field method; Path tracking; Obstacle avoidance path planning; Neural network; CarSim/Simulink