摘要
针对车辆在弯道高速行驶时的轨迹跟踪精度低和转向稳定性差的问题,提出了一套基于车辆运动学模型的横纵向耦合控制算法.采用不同于纯跟踪的预瞄式期望前轮转角计算方法,并利用横向加速度约束进行纵向控制,同时设计了高速条件下的预瞄二级减速控制算法,实现转向与速度联合控制.为了提高算法的工况适应性,采用麻雀搜索算法根据道路曲率和车速优化预瞄时间,并基于Simulink和Prescan联合仿真,验证算法在不同曲率弯道下的控制效果.结果表明:采用基于麻雀搜索算法寻优的预瞄式横纵向耦合控制算法能够较好地改善轨迹跟踪精度和转向的平顺性,且算法对不同曲率道路场景的适应性很强.将仿真结果和驾驶模拟数据对比,结果显示,该算法和自然人驾驶方式吻合度较高.
Addressing the issues of low trajectory tracking accuracy and poor steering stability when vehicles are driving at high speeds on curves,a set of longitudinal-lateral coupled control algorithms based on the vehicle kinematics model is proposed.This employs a predictive desired front wheel angle calculation method different from pure pursuit,and uses lateral acceleration constraints for longitudinal control,while also designing a predictive two-stage deceleration control algorithm for high-speed conditions to achieve combined steering and speed control.To improve the adaptability of the algorithm to different conditions,a Sparrow Search Algorithm is used to optimize the predictive time based on road curvature and vehicle speed.The control effects under different curvature bends are verified through joint simulation based on Simulink and Prescan.The results show that the predictive longitudinal-lateral coupled control algorithm,optimized using the Sparrow Search Algorithm,can significantly improve trajectory tracking precision and steering smoothness,and the algorithm is highly adaptable to different road curvature scenarios.A comparison of simulation results with driving simulation data indicates that the algorithm closely matches the natural human driving style.
作者
熊坚
何扬帆
刘果
杨秀建
XIONG Jian;HE Yangfan;LIU Guo;YANG XiuJian(Kunming University of Science and Technology,Faculty of Transportation Engineering,Kunming 650550,China;Kunming University of Science and Technology,City College,Kunming 650550,China)
出处
《昆明理工大学学报（自然科学版）》
北大核心
2024年第2期161-170,共10页
Journal of Kunming University of Science and Technology(Natural Science)
基金
国家自然科学基金项目(52162046)。
关键词
智能车辆
轨迹跟踪
麻雀搜索算法
转向与速度耦合控制
intelligent vehicle
curvy trajectory tracking
sparrow search algorithm
steering and speed coordinated control algorithm
作者简介
熊坚(1959-),男,博士,教授,博士生导师.主要研究方向:道路交通安全与仿真.E-mail:xiebox@163.com。
