摘要
为解决智轨电车在自动驾驶横向控制中存在的车辆抖动与横向控制偏差大问题,保证其在道路上的稳定行驶和安全变道,文章通过研究智轨电车自动驾驶横向控制中的道路重构过程,提出了一种基于二次优化的道路重构方法,设计了基于智轨电车的自动驾驶跟踪控制器,并建立了智轨电车动力学模型进行仿真和实车验证。结果显示,在转弯过渡阶段,路径跟踪的仿真轨迹偏差为±4.8 cm,实车实验轨迹偏差为±5 cm;在高速直行阶段,实车轨迹偏差±0.2 cm,这表明车辆理论模型与实际车辆具有较好的一致性,且车辆自动驾驶过程能很好地跟踪预设轨迹。
To solve the problem of vehicle shaking and substantial lateral control deviation in the autonomous lateral control of autonomous-rail rapid tram and ensure its stable driving and safe lane changing on the road,this paper studies the road reconstruction process within the context of autonomous lateral control of autonomous-rail rapid tram.It proposes a road reconstruction method based on quadratic optimization,designs an autonomous tracking controller specifically tailored to autonomous-rail rapid tram,and establishes a dynamic model of autonomous-rail rapid trams for both simulation and verification on real vehicles.The experimental results show that during the transition phase of turning,the simulated path tracking deviation is±4.8cm,while the real-vehicle experimental results show a deviation of±5cm;under the high speed condition in straight road,the real-vehicle path tracking deviation is±0.2cm.These experimental findings underscore the satisfactory alignment between the theoretical vehicle model and the real vehicle.Furthermore,the autonomous driving process of the vehicle demonstrates the ability to effectively track the preset trajectory.
作者
刘小聪
周胜
肖磊
彭京
LIU Xiaocong;ZHOU Sheng;XIAO Lei;PENG Jing(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5期19-24,共6页
CONTROL AND INFORMATION TECHNOLOGY
基金
湖南省创新平台与人才计划项目(2022TP2008)。
关键词
智轨电车
自动驾驶
横向控制
二次优化
autonomous-rail rapid tram
autonomous driving
lateral control
quadratic optimization
作者简介
刘小聪(1986—),男,硕士,工程师,主要研究方向为车辆转向系统控制及算法研究。
