双点预瞄式智能车大曲率路径的横向控制
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摘要
针对智能车在大曲率弯道中转向机构过早响应以及跟线精度不高的问题,提出了一种基于双预瞄点的智能车大曲率路径横向模糊控制方法。首先建立了车辆的横向控制系统结构,给出了车辆的动力学模型和视觉预瞄模型,进而提出了双点预瞄调节策略,给出了模糊控制器的设计方法并采用遗传算法进一步优化了控制器的控制规则,最后通过仿真实验验证了控制器的有效性及准确性。结果表明:所设计的控制系统能根据前方道路的曲率及车速实时调节预瞄距离,既能确保车辆的转向角以较高精度实时跟踪大曲率路径,又能保证车速在弯道中处于预定的受控范围内。
A lateral fuzzy controller of intelligent vehicles with dynamic double preview points was proposed in this paper to avoid the early response of steering system and improve the steering accuracy in large curvature roads. Based on the established dynamic model and kinetic model, the configuration of double look-ahead points and the design of fuzzy controller are presented and the control rules are optimized using the genetic algorithm. Finally,the feasibility and accuracy of controller are validated by a simulation test. The results show that the look-ahead distant is regulated against the variation of curvature simultaneously,and the steering angle follows the reference path in a desirable accuracy keeping the speed within an acceptable range.
A lateral fuzzy controller of intelligent vehicles with dynamic double preview points was proposed in this paper to avoid the early response of steering system and improve the steering accuracy in large curvature roads. Based on the established dynamic model and kinetic model, the configuration of double look-ahead points and the design of fuzzy controller are presented and the control rules are optimized using the genetic algorithm. Finally,the feasibility and accuracy of controller are validated by a simulation test. The results show that the look-ahead distant is regulated against the variation of curvature simultaneously,and the steering angle follows the reference path in a desirable accuracy keeping the speed within an acceptable range.
引文
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[13]丁幼春,廖庆喜,黄海东,等.联合收获机大曲率路径视觉导航方法[J].农业机械学报,2011,42(S1):122-127.
[14]沈峘,凌锐,李舜酩.基于预瞄最优曲率模型的大曲率转向控制方法[J].中国机械工程,2012,23(17):2111-2116.
[15]杨浩,黄江,李正网,等.基于曲率与车速的两点智能控制驾驶员模型[J].汽车技术,2017,48(8):38-42.
[16]HASEGAWA K,KONAKA E.Three look-ahead distance scheme for lateral control of vision-based vehicles[C]//2014 Proceedings of the SICE Annual Conference(SICE).2014:660-665.
[17]郭景华,胡平,李琳辉,等.基于遗传优化的无人车横向模糊控制[J].机械工程学报,2012,48(6):76-82.
[2]郭景华,李克强,罗禹贡.智能车辆运动控制研究综述[J].汽车安全与节能学报,2016,7(2):151-159.
[3]陈慧岩,陈舒平,龚建伟.智能汽车横向控制方法研究综述[J].兵工学报,2017,38(6):1203-1214.
[4]陈无畏,谈东奎,汪洪波,等.一类基于轨迹预测的驾驶员方向控制模型[J].机械工程学报,2016,52(14):106-115.
[5]PEREZ J,MILANES V,ONIEVA E.Cascade Architecture for Lateral Control in Autonomous Vehicles[J].IEEE Transactions on Intelligent Transportation Systems,2011,12(1):73-82.
[6]张艳辉,徐坤,郑春花,等.智能电动汽车信息感知技术研究进展[J].仪器仪表学报,2017,38(4):794-805.
[7]张荣辉,游峰,初鑫男,等.车-车协同下无人驾驶车辆的换道汇入控制方法[J].中国公路学报,2018,31(4):180-191.
[8]DEY K C,YAN L,WANG X J,et al.A Review of Communication,Driver Characteristics,and Controls Aspects of Cooperative Adaptive Cruise Control(CACC)[J].IEEE Transactions on Intelligent Transportation Systems,2016,17(2):491-509.
[9]GUO J,HU P,LI L,et al.Design of Automatic Steering Controller for Trajectory Tracking of Unmanned Vehicles Using Genetic Algorithms[J].IEEE Transactions on Vehicular Technology,2012,61(7):2913-2925.
[10]钱立军,胡伟龙,辛付龙,等.基于H∞的车辆横向运动鲁棒控制[J].吉林大学学报(工学版),2015,45(6):1757-1762.
[11]田涛涛,侯忠生,刘世达,等.基于无模型自适应控制的无人驾驶汽车横向控制方法[J].自动化学报,2017,43(11):1931-1940.
[12]赵熙俊,陈慧岩.智能车辆路径跟踪横向控制方法的研究[J].汽车工程,2011,33(5):382-387.
[13]丁幼春,廖庆喜,黄海东,等.联合收获机大曲率路径视觉导航方法[J].农业机械学报,2011,42(S1):122-127.
[14]沈峘,凌锐,李舜酩.基于预瞄最优曲率模型的大曲率转向控制方法[J].中国机械工程,2012,23(17):2111-2116.
[15]杨浩,黄江,李正网,等.基于曲率与车速的两点智能控制驾驶员模型[J].汽车技术,2017,48(8):38-42.
[16]HASEGAWA K,KONAKA E.Three look-ahead distance scheme for lateral control of vision-based vehicles[C]//2014 Proceedings of the SICE Annual Conference(SICE).2014:660-665.
[17]郭景华,胡平,李琳辉,等.基于遗传优化的无人车横向模糊控制[J].机械工程学报,2012,48(6):76-82.