基于弧长预瞄的车辆侧向跟踪控制研究
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摘要
为提高基于预瞄理论的路径跟踪控制算法的计算效率与适应性,本文中在预瞄最优曲率模型的基础上,提出了一种依据车辆实际行驶路程获取预瞄点侧向位移的弧长预瞄方法。并在该方法下,推导了预瞄点侧向位移与车辆前轮转角之间的关系,之后通过侧向跟踪闭环系统方框图,建立了路径跟踪的侧向控制模型。最后,在CarSim/Simulink联合仿真环境下,通过建立若干典型仿真工况,对该模型的有效性和人-车-路闭环系统转向盘稳定性影响因素进行了仿真分析。结果表明,该方法在侧向路径跟踪控制方面具有跟踪精度高、计算速度快和适应性好的特点。并且,当闭环系统同时满足期望路径点方向连续和预瞄距离大于临界前视距两个条件时转向盘趋于稳定。
In order to improve the computational efficiency and adaptability of path control algorithm based on preview theory,in this paper, an arc-length preview method is proposed to obtain the lateral displacement of preview point based on actual driving distance of the car on the basis of the preview optimal curvature model. With this method, the relationship between the lateral displacement of preview point and the rotation angle of front wheel is deduced. Then the lateral control model of path tracking is established through the derivation of lateral tracking closed-loop control system block diagram. Finally, in the CarSim/Simulink co-simulation environment, the effectiveness of the model and the factors which affect the steering wheel stability of the human-vehicle-road closed-loop system under this method are simulated and analyzed by establishing several typical simulation conditions. The results show that the method has the advantages of high tracking accuracy, fast calculation speed and good adaptability in lateral path tracking control. Furthermore, the steering wheel tends to be stabilized when the closed loop system satisfieds both the conditions that the direction of desired path points has continuity and the preview distance is greater than the critical forward distance.
In order to improve the computational efficiency and adaptability of path control algorithm based on preview theory,in this paper, an arc-length preview method is proposed to obtain the lateral displacement of preview point based on actual driving distance of the car on the basis of the preview optimal curvature model. With this method, the relationship between the lateral displacement of preview point and the rotation angle of front wheel is deduced. Then the lateral control model of path tracking is established through the derivation of lateral tracking closed-loop control system block diagram. Finally, in the CarSim/Simulink co-simulation environment, the effectiveness of the model and the factors which affect the steering wheel stability of the human-vehicle-road closed-loop system under this method are simulated and analyzed by establishing several typical simulation conditions. The results show that the method has the advantages of high tracking accuracy, fast calculation speed and good adaptability in lateral path tracking control. Furthermore, the steering wheel tends to be stabilized when the closed loop system satisfieds both the conditions that the direction of desired path points has continuity and the preview distance is greater than the critical forward distance.
引文
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[17] 管欣,陈永尚,贾鑫,等.预瞄跟随驾驶员模型的复合校正[J].汽车工程,2018,40(3):297-304.
[18] 管欣,张立增,贾鑫.误差分析求解PO预瞄驾驶员模型参数[J].汽车工程,2014,36(2):199-203.
[19] 高骁猛,应毅辰,朱劲,等.基于CarSim和Simulink仿真的车辆模糊巡航控制器[J].计算机与现代化,2014(1):58-61.
[2] GUO K,GUAN H.Modelling of driver/vehicle directional control system[J].Vehicle System Dynamics,1993,22(3-4):141-184.
[3] GUAN H,GAO Z,GUO K,et al.A driver direction control model and its application in the simulation of driver-vehicle-road closed-loop system[C].SAE Paper 2000-01-2184.
[4] GUO K,CHENG Y,DING H.Analytical method for modeling driver in vehicle directional control[J].Vehicle System Dynamics,2004.
[5] 明廷友.智能车辆的轨迹跟随控制研究[D].长春:吉林大学,2016.
[6] 丁海涛,郭孔辉,李飞,等.基于加速度反馈的任意道路和车速跟随控制驾驶员模型[J].机械工程学报,2010,46(10):116-120.
[7] 管欣,张立增,贾鑫.驾驶员方向控制模型圆弧式预瞄算法的研究[J].汽车工程,2012,34(12):1061-1064.
[8] ABE M,WANNING W.Vehicle handling dynamics theory and application [M].Elservier.2009:243:265.
[9] ZHANG L Z,GUAN H,JIA X,et al.A study on the effect of driver model parameters on the performance of driver-vehicle-road closed-loop system[J].Applied Mechanics & Materials,2014,470:604-608.
[10] 郭孔辉.人-车-路闭环操纵系统主动安全性的综合评价与优化设计[J].汽车技术,1993(4):4-12.
[11] 高振海,管欣,郭孔辉.预瞄跟随理论和驾驶员模型在车辆智能驾驶研究中的应用[J].交通运输工程学报,2002,2(2):63-66.
[12] 杜小芳,赵永浩,徐文婷,等.基于二自由度动力学模型的车辆AFS研究[J].武汉理工大学学报:信息与管理工程版,2016,38(2):257-262.
[13] 赵树恩,屈贤,张金龙.基于人车协同的车辆弯道安全车速预测[J].汽车工程,2015,37(10):1208-1220.
[14] 高振海,段立飞.仿人小脑神经网络结构的驾驶员方向控制行为建模[J].汽车工程,2012,34(4):288-291.
[15] OZGUNER U,UNYELIOGLU K A,HATIPOGLU C.An analytical study of vehicle steering control[C].IEEE Conference on Control Applications.IEEE,1995:125-130.
[16] 汪选要,王其东,高振刚,等.基于人机共驾的车道偏离防避控制[J].汽车工程,2017,39(7):839-848.
[17] 管欣,陈永尚,贾鑫,等.预瞄跟随驾驶员模型的复合校正[J].汽车工程,2018,40(3):297-304.
[18] 管欣,张立增,贾鑫.误差分析求解PO预瞄驾驶员模型参数[J].汽车工程,2014,36(2):199-203.
[19] 高骁猛,应毅辰,朱劲,等.基于CarSim和Simulink仿真的车辆模糊巡航控制器[J].计算机与现代化,2014(1):58-61.