汽车工程

汽车工程 ›› 2025, Vol. 47 ›› Issue (11): 2083-2092.doi: 10.19562/j.chinasae.qcgc.2025.11.003

• • 上一篇    

城市场景下飞行汽车决策-规划-跟踪分层运动控制研究

严永俊,张宸硕,陶世龙,薛鹏宇,王洪亮,皮大伟()   

  1. 南京理工大学机械工程学院车辆工程系，南京 210094
  • 收稿日期:2025-06-16 修回日期:2025-08-02 出版日期:2025-11-25 发布日期:2025-11-28
  • 通讯作者: 皮大伟 E-mail:pidawei@mail.njust.edu.cn
  • 基金资助:
    国家自然科学基金(52332013)

Research on Decision-Planning-Tracking Hierarchical Motion Control of Flying Car in Urban Scene

Yongjun Yan,Chenshuo Zhang,Shilong Tao,Pengyu Xue,Hongliang Wang,Dawei Pi()   

  1. Department of Vehicle Engineering，School of Mechanical Engineering，Nanjing University of Science and Technology，Nanjing 210094
  • Received:2025-06-16 Revised:2025-08-02 Online:2025-11-25 Published:2025-11-28
  • Contact: Dawei Pi E-mail:pidawei@mail.njust.edu.cn

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摘要：

飞行汽车技术为缓解城市交通压力带来了解决方案，但城市低空交通的三维障碍物较为密集，如何实现飞行汽车安全高效的智能控制仍是亟待解决的问题。本文设计了一种适用于城市场景的飞行汽车决策-规划-跟踪分层运动控制系统。在上层决策规划模块中，基于安全与能耗的目标设计了最优路径决策机制，建立了城市场景下的纵-横-垂综合风险场，基于设计的纵-横-垂综合风险场并结合模型预测控制进行实时轨迹规划，实现了满足能耗要求且安全的轨迹规划控制。在下层路径跟踪控制器中，运用串级控制器实现路径跟踪控制，控制器依据期望轨迹解算出电机转速控制量，实现了对飞行汽车的精准操控。搭建了Matlab/Simulink仿真环境，仿真结果表明，提出的飞行汽车分层运动控制系统能够规划出安全舒适的行驶轨迹，并且控制器的实时性符合要求，每步长求解时间小于10 ms。

关键词: 飞行汽车, 分层运动控制, 纵-横-垂综合风险场, 串级控制

Abstract:

Flying car technology has brought solutions to alleviate urban traffic pressure， but the three-dimensional obstacles of urban low-altitude traffic are dense. How to realize safe and efficient intelligent control of flying cars is still an urgent problem to be solved. In this paper， a decision-planning-tracking hierarchical motion control system for flying cars in urban scenes is designed. In the upper decision-planning module， an optimal path decision mechanism is designed based on the goals of safety and energy consumption， and a longitudinal-lateral-vertical risk field in urban scenes is established. Based on the designed longitudinal-lateral-vertical risk field and combined with model predictive control， real-time trajectory planning is carried out to achieve trajectory planning control that meets energy consumption requirements and is safe. In the lower path tracking controller， the cascade controller is used to realize the path tracking control. The controller calculates the motor speed control quantity according to the expected trajectory， and realizes the precise control of the flying car. The Matlab/Simulink simulation environment is built. The simulation results show that the proposed hierarchical motion control system of the flying car can plan a safe and comfortable driving trajectory， and the real-time performance of the controller meets the requirements， with the solution time of each step less than 10 ms.

Key words: flying car, layered motion control, longitudinal-lateral-vertical risk field, cascade control