机械科学与技术2024，Vol.43Issue(1)：141-149,9.DOI:10.13433/j.cnki.1003-8728.20220186
运用路径动态预览模型的低速智能汽车侧向跟踪控制研究
Research on Lateral Tracking Control of Low Speed Intelligent Vehicle Using Dynamic Path Preview Model
摘要
Abstract
Speed adaptive dynamic preview distance is an effective way to improve the lateral tracking control effect of intelligent vehicle,and as for the problem of using current vehicle speed for the preview distance,a dynamic preview distance tracking control algorithm combining planned path and planned speed information is proposed to improve the accuracy of path tracking at low speed.Based on the pure pursue algorithm,the lateral tracking control laws of moving forward and reversing are derived.According to the real-time planned path and speed information,a dynamic adjustment method of preview distance was designed,and the relationship between the preview distance and the steering angle with speed adaptability was thereby obtained.Finally,the effectiveness and accuracy of the proposed algorithm were verified in CarSim-MATLAB/Simulink co-simulation environment,and a real vehicle test was performed,indicating that the proposed algorithm has lower computational consumption and higher tracking accuracy than the LQR algorithm based on dynamics model.关键词
智能汽车/侧向跟踪/动态预瞄距离/仿真与实车验证Key words
intelligent vehicle/lateral tracking/dynamic preview distance/simulation verification and real vehicle validation分类
交通工程引用本文复制引用
王丽娟,关龙新,张明华,时乐泉,王爱春,吴晓建..运用路径动态预览模型的低速智能汽车侧向跟踪控制研究[J].机械科学与技术,2024,43(1):141-149,9.基金项目
国家自然科学基金项目(52002163,52062036) （52002163,52062036）
