汽车工程 ›› 2023, Vol. 45 ›› Issue (1): 1-8.doi: 10.19562/j.chinasae.qcgc.2023.01.001

所属专题: 智能网联汽车技术专题-规划&决策2023年

• •    下一篇

基于改进纯跟踪的智能车路径跟随方法

潘世举,李永乐,李子先,何滨兵,朱愿(),徐友春   

  1. 陆军军事交通学院,天津 300161
  • 收稿日期:2022-07-18 修回日期:2022-08-11 出版日期:2023-01-25 发布日期:2023-01-18
  • 通讯作者: 朱愿 E-mail:prizhyle0223@sina.com
  • 基金资助:
    军队重点学科专业建设项目(4142Z17)

Path Following Method of Intelligent Vehicles Based on Improved Pure Tracking

Shiju Pan,Yongle Li,Zixian Li,Binbing He,Yuan Zhu(),Youchun Xu   

  1. Army Military Transportation University,Tianjin 300161
  • Received:2022-07-18 Revised:2022-08-11 Online:2023-01-25 Published:2023-01-18
  • Contact: Yuan Zhu E-mail:prizhyle0223@sina.com

摘要:

为提高智能车的路径跟随精度和行驶平稳性,提出一种基于改进纯跟踪的路径跟随方法。首先建立纯跟踪路径跟随模型,分析纯跟踪模型在初始偏差条件下的控制效果;然后将航向偏差作为反馈变量对纯跟踪方法进行补偿,并以横向偏差和航向偏差为输入、以补偿权重为输出,采用类模糊方法实现补偿权重的动态调节;最后通过实车试验选定控制参数,并验证所提方法的控制性能。结果表明,该方法在不同初始偏差和不同目标行驶速度下能够实现偏差的快速消除,并保证行驶平稳性,具有较好的路径跟随效果,运算耗时较少。

关键词: 智能车, 路径跟随, 纯跟踪, 动态补偿, 模糊控制

Abstract:

In order to improve the path following accuracy and driving stability of intelligent vehicles, a path following method based on improved pure tracking is proposed. Firstly, the path following model based on pure tracking is established, and the control effect of the pure tracking model under the condition of initial error is analyzed. Secondly, the heading error is used as the feedback variable to compensate the pure tracking method, and the quasi fuzzy method is used to realize the dynamic adjustment of the compensation weight with the lateral error and the heading error as the input and the compensation weight as the output. Finally, the control parameters are selected through the real vehicle test, and the control performance of the proposed method is verified. The results show that the method can eliminate the errors quickly under different initial errors and different target driving speeds and ensure the driving stability, and the method has better path following effect and spends less compute time.

Key words: intelligent vehicles, path following, pure tracking, dynamic compensation, fuzzy control