基于改进纯跟踪的智能车路径跟随方法

doi:10.19562/j.chinasae.qcgc.2023.01.001

Abstract

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

Shiju Pan,Yongle Li,Zixian Li,Binbing He,Yuan Zhu,Youchun Xu. Path Following Method of Intelligent Vehicles Based on Improved Pure Tracking[J].Automotive Engineering, 2023, 45(1): 1-8.

Figures/Tables 12

变量	论域
$l e$	$(0, l m a x)$
$θ e$	$(0, θ m a x)$
$k$	$(- m, m)$

变量	取值	变量	取值
$l$	1.2 m	$l m a x$	1 m
$δ c$	$(- 0.593 ? 4,0.593 ? 4) ? r a d$	$θ m a x$	$0.349 ? r a d$

References 15

1	陈轶嵩，邢云翔，熊晓琴，等. 基于专利分析的智能网联汽车技术与经济评价体系的研究［J］. 汽车工程， 2021， 43（9）： 1271-1277.
	CHEN Y S， XING Y X，XIONG X Q， et al. Research on technical and economic evaluation system of intelligent connected vehicles based on patent analysis［J］. Automotive Engineering， 2021， 43（9）： 1271-1277.
2	秦晓辉，王哲文，庞涛，等. 基于车辆模型紧耦合的封闭园区车辆定位方法［J］. 汽车工程， 2021， 43（9）： 1328-1335.
	QI X H， WANG Z W， PANG T， et al. Vehicle positioning method based on tight coupling of vehicle model in enclosed environments［J］. Automotive Engineering， 2021， 43（9）： 1328-1335.
3	崔明阳，黄荷叶，许庆，等. 智能网联汽车架构、功能与应用关键技术［J］. 清华大学学报（自然科学版）， 2022， 62（3）： 493-508.
	CUI M Y， HUANG H Y， XU Q， et al. Survey of intelligent and connected vehicle technologies： architectures， functions and applications［J］. Journal of Tsinghua University （Science and Technology）， 2022， 62（3）： 493-508.
4	MONOT N， MOREAU X， BENINE-NETO A， et al. Automated vehicle lateral guidance using multi-PID steering control and look-ahead point reference［J］. International Journal of Vehicle Autonomous Systems， 2021， 16（1）： 38-55.
5	LI Y B， YU J L， GUO X N， et al. Path tracking method of unmanned agricultural vehicle based on compound fuzzy control［C］. 2020 IEEE 9th Joint International Information Technology and Artificial Intelligence Conference， 2020： 1301-1305.
6	GRIGORESCU S， TRASNEA B， COCIAS T， et al. A survey of deep learning techniques for autonomous driving［J］. Journal of Field Robotics， 2020， 37（3）： 362-386.
7	LIU J， YANG Z， HUANG Z， et al. Simulation performance evaluation of pure pursuit， stanley， LQR， MPC controller for autonomous vehicles［C］. 2021 IEEE International Conference on Real-time Computing and Robotics （RCAR）. IEEE， 2021： 1444-1449.
8	CHEN L， QIN Z B， KONG W W， et al. Lateral control using LQR for intelligent vehicles based on the optimal front-tire lateral force［J］. Journal of Tsinghua University （Science and Technology）， 2021， 61（9）： 906-912.
9	潘世举，李华，苏致远，等. 基于跟踪误差模型的智能车辆轨迹跟踪方法［J］. 汽车工程， 2019， 41（9）： 1021-1027.
	PAN S J， LI H， SU Z Y， et al. Trajectory tracking method for intelligent vehicles based on tracking-error model［J］. Automotive Engineering， 2019， 41（9）： 1021-1027.
10	PARK M， LEE S， HAN W. Development of steering control system for autonomous vehicle using geometry‐based path tracking algorithm［J］. Etri Journal， 2015， 37（3）： 617-625.
11	AHN J， SHIN S， KIM M， et al. Accurate path tracking by adjusting look-ahead point in pure pursuit method［J］. International Journal of Automotive Technology， 2021， 22（1）： 119-129.
12	张华强，王国栋，吕云飞，等. 基于改进纯追踪模型的农机路径跟踪算法研究［J］. 农业机械学报， 2020， 51（9）： 18-25.
	ZHANG H Q， WANG G D， LÜ Y F， et al. Agricultural machinery automatic navigation control system based on improved pure tracking model［J］. Transactions of the Chinese Society for Agricultural Machinery， 2020， 51（9）： 18-25.
13	SHAN Y， ZHENG B， CHEN L， et al. A reinforcement learning-based adaptive path tracking approach for autonomous driving［J］. IEEE Transactions on Vehicular Technology， 2020， 69（10）： 10581-10595.
14	CHEN I M， CHAN C Y. Deep reinforcement learning based path tracking controller for autonomous vehicle［J］. Proceedings of the Institution of Mechanical Engineers， Part D： Journal of Automobile Engineering， 2021， 235（3）： 541-551.
15	李革，王宇，郭刘粉，等. 插秧机导航路径跟踪改进纯追踪算法［J］. 农业机械学报， 2018， 49（5）： 21-26.
	LI G， WANG Y， GUO L F， et al. Improved pure pursuit algorithm for rice transplanter path tracking［J］. Transactions of the Chinese Society for Agricultural Machinery， 2018， 49（5）： 21-26.

[1]	WANG Dan, LIU Zhong-Chang, TIAN Jing, HAN Yong-Qiang, TAN Man-Zhi. [J]. , 2016, 38(12): 1415 -1419 .
[2]	LI Ling, MA Li, MOU Yu, XU Chao, LI Wen-Ru, SHI Shu-Ming. [J]. , 2016, 38(12): 1508 -1514 .
[3]	GAO Ji-Dong, GAO Bo-Lin, XIE Shu-Gang. [J]. , 2016, 38(12): 1515 -1520 .
[4]	QIN Xiao-Hui, WANG Jian-Qiang, XIE Bo-Yuan, HU Man-Jiang, LI Ke-Qiang. [J]. , 2017, 39(1): 73 -78 .
[5]	ZHANG Jian, ZHOU Dao-Kui, TONG Rui, QI Hao-Chen. [J]. , 2017, 39(1): 47 -51 .
[6]	SHAO Shi-Ping, HUANG Ju-Hua, CAO Ming. [J]. , 2017, 39(2): 200 -205 .
[7]	Chen-Xin, FENG Xiao, SHEN Chuan-Liang, WANG Shuo, HU Cui-Song, LI Yan-Yang, YANG Chang-Hai-　. [J]. , 2017, 39(2): 206 -213 .
[8]	CAO Li-Bo, CHEN Zheng, YAN Ling-Bo, QIN Qin, ZHANG Rui-Feng. [J]. , 2017, 39(2): 225 -231 .
[9]	HONG Qiu-Cai, LIU Wei-Guo, ZHOU Da-Yong. [J]. , 2017, 39(2): 232 -236 .
[10]	XU Feng-Xiang, TIAN Xuan-Yi. [J]. , 2017, 39(2): 237 -242 .

[1]	Jianping Hao,Yanzhao Su,Zhihua Zhong,Jin Huang. Service-Oriented Architecture and Service Scheduling Mechanism for Intelligent Vehicles [J]. Automotive Engineering, 2023, 45(9): 1563-1572.
[2]	Gaoshi Zhao,Long Chen,Yingfeng Cai,Yubo Lian,Hai Wang,Qingchao Liu,Chenglong Teng. Trajectory Prediction Technology Integrating Complex Network and Memory-Augmented Network [J]. Automotive Engineering, 2023, 45(9): 1608-1616.
[3]	Qihui Hu,Yingfeng Cai,Hai Wang,Long Chen,Zhaozhi Dong,Qingchao Liu. Heterogeneous Multi-object Trajectory Prediction Method Based on Hierarchical Graph Attention [J]. Automotive Engineering, 2023, 45(8): 1448-1456.
[4]	Shiju Pan, Jianshi Li, Hua Li, Jingtao Lou, Youchun Xu. Path Following Method of Intelligent Vehicles Based on Feedback Pure Tracking Method [J]. Automotive Engineering, 2023, 45(7): 1134-1144.
[5]	Jun Li, Wei Zhou, Shuang Tang. Lane Change and Obstacle Avoidance Trajectory Planning of Intelligent Vehicle Based on Adaptive Fitting [J]. Automotive Engineering, 2023, 45(7): 1174-1183.
[6]	Xiao Wu, Wenku Shi, Zhiyong Chen. Active Suspension Control Based on Interacting Multiple Model Kalman Filter [J]. Automotive Engineering, 2023, 45(7): 1200-1211.
[7]	Zixian Li,Shiju Pan,Yuan Zhu,Binbing He,Youchun Xu. Semi-active Suspension Control for Intelligent Vehicles Based on State Feedback and Preview Feedforward [J]. Automotive Engineering, 2023, 45(5): 735-745.
[8]	Yunfei Zha,Xiaoshan Shi,Hao Wu,Minxu Li,Huiqin Chen. Study of Vehicle Aerodynamics Characteristic Based on Active Tilting Rear Wing [J]. Automotive Engineering, 2023, 45(3): 489-500.
[9]	Xinrong Zhang,Yuhang Tan,Yifan Jia,Jin Huang,Quanning Xu. Robust Control of Path Tracking for Four-Wheel Independent Drive Electric Vehicles [J]. Automotive Engineering, 2023, 45(2): 253-262.
[10]	Jinxia Liu,Zhihao Liang,Qiang Wang,Mingxing Wen. Research on the Equivalent Fuel Consumption Minimizing Energy Management Strategy of Through-the-Road Vehicle [J]. Automotive Engineering, 2023, 45(2): 285-292.
[11]	Yongtao Liu,Chuanpan Liu,Xiangan Liu,Yisong Chen,Jie Qiao. Automatic Emergency Braking System Based on Model Predictive Control with Adaptive Sampling Time [J]. Automotive Engineering, 2023, 45(1): 32-41.
[12]	Wenbo Shao,Jun Li,Yuxin Zhang,Hong Wang. Key Technologies to Ensure the Safety of the Intended Functionality for Intelligent Vehicles [J]. Automotive Engineering, 2022, 44(9): 1289-1304.
[13]	Zihao Wang,Yingfeng Cai,Hai Wang,Long Chen,Xiaoxia Xiong. Surrounding Multi-Target Trajectory Prediction Method Based on Monocular Visual Motion Estimation [J]. Automotive Engineering, 2022, 44(9): 1318-1326.
[14]	Zewu Deng,Zhaozheng Hu,Zhe Zhou, LiuYulin,Chao Peng. Intelligent Vehicle Positioning by Fusing LiDAR and Double-layer Map Model [J]. Automotive Engineering, 2022, 44(7): 1018-1026.
[15]	Shukai Zhang,Hui Chen,Meicen Liu. Control Method of Path Following for Automatic Parking System [J]. Automotive Engineering, 2022, 44(7): 1027-1039.

Path Following Method of Intelligent Vehicles Based on Improved Pure Tracking

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 12

References 15

Related Articles 15

Metrics

Comments

Recommended 10