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为了提高汽车高速紧急避让行驶安全性,提出一种汽车紧急避让问题求解方法.基于滚动时域混合整数线性规划(RHC-MILP),通过引入逻辑变量和连续变量的混合形式的线性约束来描述障碍物避让约束,对车辆的动态特性进行线性近似,建立离散时间模型;以整数变量描述车辆和障碍物之间的相对位置,以安全顺利避开障碍物性能指标作为代价函数,建立混合整数规划,并采用滚动时域控制策略进行求解.仿真和实车试验结果表明,该方法能够求解汽车的紧急避让问题,具有求解精度高,求解时间短的优势,并且仿真值和试验值的变化趋势基本一致,从而验证了该方法的正确性和可行性.
In order to improve the safety of high-speed emergency avoidance vehicles, a solution to the problem of vehicle emergency avoidance is proposed.According to the mixed-linear programming with rolling-time domain (RHC-MILP), the obstacle is described by introducing the linear constraint of mixture form of logical variables and continuous variables To avoid the constraint, the dynamic characteristics of the vehicle are approximated by a linear approximation, and the discrete time model is established. The relative position between the vehicle and the obstacle is described by integer variables, and the mixed integer programming is established by taking the obstacle performance index safely and smoothly as the cost function. And the rolling time-domain control strategy is used to solve.The simulation and real vehicle test results show that this method can solve the emergency avoidance problem of automobile, has the advantages of high solution accuracy and short solution time, and the trend of simulation value and test value are basically the same , Which verifies the correctness and feasibility of the method.