高速公路智能汽车自动超车控制算法仿真研究  

Simulation of automatic overtaking control algorithm for intelligent vehicle on highway

作　　者：吴付威[1,2] 秦加合[2] 任超伟[2] 牛增良[2] 张俊磊[2] 

机构地区：[1]长安大学汽车运输安全保障技术交通行业重点实验室,陕西西安710064 [2]长安大学汽车学院,陕西西安710064

出　　处：《计算机工程与设计》2013年第7期2542-2546,共5页Computer Engineering and Design

基　　金：国家自然科学基金项目(51178053;50678027);十一五国家科技支撑计划基金项目(2009BAG13A05)

摘　　要：针对传统智能车辆跟随轨迹控制方法所存在的延迟反应问题,基于车辆的实际行驶和理想行驶的状态偏差,建立了智能车辆超车过程中的轨迹跟随运动模型,并将车辆运动学模型和动力学模型相结合,提出了智能车辆超车过程中的控制算法。在PreScan软件和matlab/simulink的联合仿真环境下,实现了智能车辆超车过程中轨迹跟随控制,并进行了60km/h、80km/h、100km/h和120km/h速度下的仿真验证。仿真实验结果表明,车辆的行驶速度越高,轨迹跟随的精度也就越精确。Aiming at the delay feedback problem of traditional following trajectory control method for intelligent vehicle, state deviation of the vehicle＇s actual driving and ideal driving is used to establish overtaking trajectory following movement of intelligent vehicle, and overtaking control algorithm of intelligent vehicle is brought forward by combine Vehicle kinematics model and dynamic model. Overtaking trajectory following control is implemented in the unite simulation condition of PreScan and matlab/ simulink. Simulation results of 60km/h, 80km/h, 100km/h and 120km/h shows that the vehicle speed is higher, the accuracy of the trajectory following is more accurate.

关 键 词：超车 仿真 轨迹跟随 状态误差 轨迹仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]