自动驾驶汽车车速跟随空间预瞄跟随方法研究

doi:10.19562/j.chinasae.qcgc.2025.09.001

Abstract

Abstract:

Speed tracking is one of the most important function of autonomous vehicles. In order to improve the spatial speed tracking accuracy of autonomous vehicles at the designated spatial position， in this paper a spatial preview method for autonomous vehicles speed tracking is proposed. Compared with other methods， this paper focuses on spatial preview rather than temporal preview. Firstly， a motion primitives based spatial multi-segment speed preview method is established. The target speed is spatially previewed by motion primitive， and the segmentation points are determined according to the preview tracking error. The distance of each segment is adjusted dynamically to ensure that the preview tracking error within the allowable deviation range. The expected longitudinal acceleration is determined according to the preview result. Then， a longitudinal acceleration tracking method is established to track the expected longitudinal acceleration. Finally， the effectiveness of the method proposed in this paper is verified and compared with various currently widely used methods in the simulation environment. The test results show that the method proposed in this paper has higher spatial tracking accuracy compared with other methods.

Key words: spatial motion preview, multi segment preview, speed tracking, autonomous vehicle

Xin Guan,Sishen Li,Xin Jia. Study on Spatial Preview Tracking Method for Autonomous Vehicle Speed Tracking[J].Automotive Engineering, 2025, 47(9): 1647-1654.

Figures/Tables 14

方法	$e m a x / (k m ? h - 1)$	$e m e a n / (k m ? h - 1)$	$e s t d / (k m ? h - 1)$
1	1.18	0.058	0.137
2	0.38	0.026	0.045
3	0.78	0.008	0.037
4	0.73	0.007	0.036
5	0.17	0.005	0.010

方法	$e m a x / (k m ? h - 1)$	$e m e a n / (k m ? h - 1)$	$e s t d / (k m ? h - 1)$
1	2.94	0.137	0.212
2	0.91	0.031	0.063
3	1.01	0.015	0.050
4	0.98	0.011	0.038
5	0.79	0.010	0.023

References 20

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方法	车速跟随方法
1	PI
2	PI+加速度跟随
3	MPC+加速度跟随
4	单段空间预瞄+加速度跟随
5	本文方法

Study on Spatial Preview Tracking Method for Autonomous Vehicle Speed Tracking

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