摘要
针对智能车辆在城市结构化道路中,由于道路曲率变大,车辆驶入弯道车速过高,导致车辆跟踪路径精度低、稳定性差的问题,提出一种引入车速调节机制的路径跟踪控制策略。在建立车辆动力学模型的基础上,给出了弯道最大安全车速的确定方法,考虑道路曲率对于车辆路径跟踪精度的影响,引入道路曲率因子,基于最大安全车速设计了车辆的行驶速度。采用线性模型预测控制实现了速度调节机制下的路径跟踪。利用Simulink与Carsim软件对本文提出的控制策略进行了联合仿真验证,结果表明,所提出的控制策略能根据道路曲率实时调节车速,提高车辆在双移线工况与大曲率工况下的路径跟踪精确性与行驶稳定性。
When intelligent vehicles are driving on structured urban roads,due to the increased curvature of the road,the vehicle's speed entering the curve is too high,resulting in low tracking accuracy and poor stability of the path.Addressing this issue,a path tracking control strategy that introduces a speed regulation mechanism is proposed.On the basis of establishing the vehicle dynamics model,the method of determining the maximum safe speed in curves is present.Considering the influence of road curvature on the vehicle path tracking accuracy,the road curvature factor is introduced to design the vehicle driving speed based on the maximum safe speed.Linear model predictive control is adopted to achieve path tracking under speed regulation mechanism.The control strategy proposed in this paper is simulated and verified with the Simulink software and the Carsim software.The simulation results show that the proposed control strategy can adjust the vehicle driving speed in real-time based on road curvature,improve the path tracking accuracy and driving stability of vehicles under double lane change and large curvature conditions.
作者
孔慧芳
朱文祥
张倩
KONG Huifang;ZHU Wenxiang;ZHANG Qian(School of Electrical Engineering and Automation,Hefei University of Technology,Hefei 230009,China)
出处
《机械科学与技术》
北大核心
2025年第8期1434-1441,共8页
Mechanical Science and Technology for Aerospace Engineering
基金
安徽省重点研发计划项目(JZ2021AKKG0310)。
关键词
路径跟踪
智能车辆
道路曲率
车速调节
模型预测控制
path tracking
intelligent vehicle
road curvature
speed regulation
model predictive control
作者简介
孔慧芳,教授,博士生导师,博士,376921009@qq.com。
