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Mild merging path generation method with optimal merging point based on MPC

机译：基于MPC的最优合并点的温和合并路径生成方法

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摘要

In this paper, a merging path generation method based on model predictive control (MPC) method is proposed to optimize the merging point, and the merging path of the merging vehicle, while the motion of the main lane vehicle is optimized at the same time. To simplify the optimization problem which is used to generate the merging trajectory, the longitudinal movement of the merging vehicle is related to the lateral movement of it. To reproduce and make full use of the cooperative driving behavior in merging, the motions of the two relevant vehicles are optimized at the same time. A variable which enables the translation of the merging trajectory of the merging vehicle is introduced into the state of the system. So that when it is necessary to translate the merging trajectory of the merging vehicle for some reason, for example, keeping safe distance, the merging trajectory would be translated and thus the merging point can be optimized. In consideration of the upper bounds of the accelerations and lower bounds of the decelerations that actual vehicles can produce, during merging the accelerations and decelerations of both the relevant vehicles are restricted to appropriate ranges. A computer simulation of three typical merging cases, whose initial conditions are set according to the data drawn from actual merging scene, was conducted on a personal computer to verify the effectiveness of the proposed method. It is shown that the computer simulation results for all the three cases are reasonable. The computational time for all of the three cases is much shorter compare to the time step; therefore the proposed method is quite probable to be implemented on actual vehicles.
机译：本文提出了一种基于模型预测控制（MPC）方法的合并路径生成方法，以优化合并车辆的合并点，而主车道车辆的运动同时优化。为了简化用于产生合并轨迹的优化问题，合并车辆的纵向运动与其横向移动有关。为了再现并充分利用合作的合作驾驶行为，两种相关车辆的运动同时进行优化。使得能够将合并车辆的合并轨迹翻译的变量被引入系统的状态。因此，当有必要以某种原因转换合并车辆的合并轨迹时，例如，保持安全距离，将被翻译合并轨迹，因此可以优化合并点。考虑到实际车辆可以产生的加速度的上限和下界，在合并后，相关车辆的加速和减速限制为适当的范围。计算机模拟三种典型合并案例，其初始条件根据实际合并场景绘制的数据设置，在个人计算机上进行，验证所提出的方法的有效性。结果表明，所有三种情况的计算机仿真结果都是合理的。三种情况下的计算时间与时间步长得多要较短;因此，所提出的方法很可能在实际车辆上实施。

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