智能汽车换道避障路径规划与跟踪控制研究
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摘要
为了提高智能汽车行驶安全性,研究了智能汽车换道避障路径规划与跟踪控制问题。在路径规划方面,给出了换道避障决策过程,提出了等速偏移函数与正弦函数加权叠加的路径规划方法,经验证此路径满足曲率约束条件;建立了车辆运动学和动力学模型,使用位姿误差方程求解了期望横摆角速度;在路径跟踪方面,将RBF神经网络与滑膜控制结合,提出了神经滑膜控制器;经仿真验证,相比于传统滑膜控制器,神经滑膜控制器不仅减弱了抖振现象,而且对路径跟踪的纵向偏差降低了200%,方向偏差降低了300%,且神经滑膜控制器鲁棒性很好。
To improve driving safety of intelligent vehicle,path planning and tracking of intelligent vehicle obstacle avoidance by changing lanes are studied. In the matter of path planning,decision-making process of obstacle avoidance is given.Weighted starching of constant velocity offset function and sine function is put forward to plan the path,and the path satisfies curvature requirement clarified by theory and living example. Vehicle kinematical and dynamics equations are built,and expect yaw velocity is calculated by pose error equation. In the matter of path tracking,RBF neutral network and sliding mode are integrated,so that neutral sliding mode is raised. It is clarified by simulation,compared with traditional sliding mode controller,neutral sliding mode controller weakens chattering amplitude. Besides,compared to traditional sliding mode controller,vertical deviation decreases by 200%,directivity deviation decreases by 300%,and robust of neutral sliding mode controller is good.
To improve driving safety of intelligent vehicle,path planning and tracking of intelligent vehicle obstacle avoidance by changing lanes are studied. In the matter of path planning,decision-making process of obstacle avoidance is given.Weighted starching of constant velocity offset function and sine function is put forward to plan the path,and the path satisfies curvature requirement clarified by theory and living example. Vehicle kinematical and dynamics equations are built,and expect yaw velocity is calculated by pose error equation. In the matter of path tracking,RBF neutral network and sliding mode are integrated,so that neutral sliding mode is raised. It is clarified by simulation,compared with traditional sliding mode controller,neutral sliding mode controller weakens chattering amplitude. Besides,compared to traditional sliding mode controller,vertical deviation decreases by 200%,directivity deviation decreases by 300%,and robust of neutral sliding mode controller is good.
引文
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[7]刘晓麟,林仕高,欧元贤.双五次多项式过渡机械手轨迹规划[J].机械设计与制造,2014(4):40-43.(Liu Xiao-lin,Lin Shi-gao,Ou Yuan-xianl.The trajectory planning of manipulator double-quintic transition[J].Machinery Design&Manufacture,2014(4):40-43.)
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[9]王家恩,陈无畏,王檀彬.基于期望横摆角速度的视觉导航智能车辆横向控制[J].机械工程学报,2012,48(4):108-115.(Wang Jia-en,Chen Wu-wei,Wang Tan-bin.Vision guided intelligent vehicle lateral control based on desired yaw rate[J].Journal of Mechanical Engineering,2012,48(4):108-115.)
[10]Knight J,Shirsavar S,Holderbaum W.An improved reliability cuk based solar inverter with sliding mode control[J].IEEE Transactions on Power Electronics,2017,21(4):1107-1115.
[2]张亮修,吴光强,郭晓晓.自主车辆线性时变模型预测路径跟踪控制[J].同济大学学报:自然科学版,2016,44(10):1595-1603.(Zhang Liang-xiu,Wu Guang-qiang,Guo Xiao-xiao.Path tracking using linear time-varying model predictive control for autonomous vehicle[J].Jourval of Tongji University:Natural Science,2016,44(10):1595-1603.)
[3]龚毅.一种无人驾驶车辆路径跟踪控制方式研究[D].南京:南京理工大学,2014.(Ging Yi.Study on the path tracking control mode of unmanned vehicle[D].Nanjing:Nanjing University of Science and Technology,2014.)
[4]熊中刚,叶振环,贺娟.基于免疫模糊PID的小型农业机械路径智能跟踪控制[J].机器人,2015(2):212-223.(Xiong Zhong-gang,Ye Zhenhuan,He Juan.Small agricultural machinery path intelligent'lacking control based on fuzzy immune PID[J].Robot,2015(2):212-223.)
[5]牛雪梅,高国琴,鲍智达.基于滑模变结构控制的温室喷药移动机器人路径跟踪[J].农业工程学报,2013,29(2):9-16.(Niu Xue-mei,Gao Guo-qin,Bao Zhi-da.Path tracking of mobile robots for greenhouse spraying controlled by sliding mode variable structure[J].Transactions of the Chinese Society of Agricultural Engineering,2013,29(2):9-16.)
[6]高峰,杨新红,徐国艳.车辆智能行驶主动避撞的虚拟实现[J].机械工程学报,2009,45(8):203-209.(Gao Feng,Yang Xin-hong,Xu Guo-yan.Virtual realization of active avoiding collision of vehicles'intelligent running[J].Journal of Mechanical Engineering,2009,45(8):203-209.)
[7]刘晓麟,林仕高,欧元贤.双五次多项式过渡机械手轨迹规划[J].机械设计与制造,2014(4):40-43.(Liu Xiao-lin,Lin Shi-gao,Ou Yuan-xianl.The trajectory planning of manipulator double-quintic transition[J].Machinery Design&Manufacture,2014(4):40-43.)
[8]兰艳亭.基于免疫机制的智能车转向控制系统研究[D].太原:中北大学,2017.(Lan Yan-ting.Research on intelligent vehicle steering control system based on immune mechanism[D].Taiyuan:North University of China,2017.)
[9]王家恩,陈无畏,王檀彬.基于期望横摆角速度的视觉导航智能车辆横向控制[J].机械工程学报,2012,48(4):108-115.(Wang Jia-en,Chen Wu-wei,Wang Tan-bin.Vision guided intelligent vehicle lateral control based on desired yaw rate[J].Journal of Mechanical Engineering,2012,48(4):108-115.)
[10]Knight J,Shirsavar S,Holderbaum W.An improved reliability cuk based solar inverter with sliding mode control[J].IEEE Transactions on Power Electronics,2017,21(4):1107-1115.