摘要
针对智轨电车智能驾驶需求,文章提出一种基于驾驶员行为习惯模型的纵向智能控制算法,其首先分析了智轨电车的运营场景与环境,并基于多传感器感知融合技术来保障列车周边环境360o无盲区障碍物识别与列车高精定位功能;通过引入状态机设计模式与模拟驾驶员行为特性设计思想,进行智轨电车纵向智能控制多模式划分,设计了纵向智能控制策略与算法,实现了列车自主跟车、自动通过红绿灯路口、弯道自动减速以及站点高精对标停车等智能驾驶控制功能。仿真测试结果表明,采用所开发的纵向智能控制算法,车辆能稳定跟随前车起步、加减速与停车,并能实现弯道自动减速和自动通过交通灯路口,且跟车过程中速度控制精度稳定在±1 km/h以内、冲击率小于0.75 m/s^(3),进站对标停车误差小于±0.21 m,有效降低了司机驾驶工作强度,提高了列车运行舒适性与运营效率。
Aiming at the intelligent operation requirements of autonomous-rail rapid tram, this paper proposes a longitudinal intelligent control algorithm based on the driver behavior habit model. Firstly, it analyzes the ART operation scenarios and environmental conditions and introduces the multi-sensor perception fusion technology used to guarantee the 360° obstacle recognition without blind spots in the surrounding environment of trains and high-precision train positioning. And then, it presents the multi-mode division of longitudinal intelligent control designed in the finite-state machine(FSM) pattern and from simulation of drivers’ behavior characteristics, and proposes the intelligent longitudinal control strategy and algorithm to enable the intelligent train operation control functions, such as autonomous following, automatic operation at traffic light intersections, automatic deceleration on curves, and parking at stations in high-precision alignment. According to the simulation results, using the developed longitudinal intelligent control algorithm, the test train can depart, accelerate, decelerate and stop stably following the train ahead,and automatically decelerate on curves and run passing traffic light intersections, with a speed control accuracy within ± 1 km/h,impact rate less than 0.75 m/s^(3), and alignment error for parking less than ± 0.21 m, demonstrating the effectiveness to reduce driving intensity for drivers, and improve the train running comfort and operating efficiency.
作者
唐亮
沈梦玉
肖磊
TANG Liang;SHEN Mengyu;XIAO Lei(Hunan CRRC Intelligent Transport Technology Co.,Ltd.,Changsha,Hunan 410006,China;Hunan Multi-articulated Rubber Tire Transit Engineering Research Center,Changsha,Hunan 410006,China)
出处
《控制与信息技术》
2023年第1期11-18,共8页
CONTROL AND INFORMATION TECHNOLOGY
关键词
智轨电车
辅助驾驶
精准停车
速度控制
自适应巡航
autonomous-rail rapid tram
intelligent driving
precise parking
speed control
adaptive cruise control
作者简介
唐亮(1988-),男,工程师,主要从事车辆控制与智能驾驶等方面研究工作。
