基于人工势场法的车道保持系统

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英文篇名：Lane-Keeping Systems Based on Artificial Potential Fields 作者：胡振国 ; 谢有浩 英文作者：HU Zhenguo;XIE Youhao;School of Automotive and Transportation Engineering,Hefei University of Technology;Anhui Leopaard Motor Co., Ltd; 关键词：车道保持系统 ; 人工势场法 ; 跨道时间 ; 实车试验 英文关键词：lane keeping system;;artificial potential field method;;time to lane crossing;;real vehicle test 中文刊名：QCYK 英文刊名：Chinese Journal of Automotive Engineering 机构：合肥工业大学汽车与交通工程学院;安徽猎豹汽车有限公司; 出版日期：2019-03-20 出版单位：汽车工程学报 年：2019 期：v.9;No.49 基金：安徽省科技重大专项(17030901060) 语种：中文; 页：QCYK201902009 页数：7 CN：02 ISSN：50-1206/U 分类号：62-68

摘要

针对车道保持系统中的横向控制问题,采用人工势场法设计了转角控制器。选择跨道时间为势场参数,建立多模式跨道时间模型,以跨道时间为变量设计势场函数,以得到的势场力代入参考车辆模型得到理想横摆角速度和理想侧向加速度,以车速为阈值计算出理想方向盘转角,用PID控制跟踪理想方向盘转角实现车道保持。利用Carsim/Simulink联合仿真验证了该方法的有效性,还与传统道路势场法做了对比,并在实车上验证了其可靠性。
        To solve the lateral control problem of the lane-keeping system,the artificial potential field method was used to design the steering angle controller. The time-to-lane-crossing(TLC) was selected as the potential field parameter to design the potential function and a multimode TLC model was established. The obtained potential force was used in the reference vehicle model to calculate the ideal yaw rate and the ideal lateral acceleration,and a PID controller was applied to track the ideal steering angle to realize lane keeping.Then,the proposed method was verified by both the Carsim/Simulink joint simulation and a real vehicle test and was compared with the traditional artificial potential field method.

引文

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