改进的车辆跟踪虚杆模型算法及仿真  

An improved virtual flexible bar model and its simulation in the vehicle following process

作　　者：戴冠雄 陈伟海[1] 吕章刚[2] 王迪臻[1] 赵志文[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191 [2]北京航天自动控制研究所,北京100854

出　　处：《哈尔滨工程大学学报》2013年第11期1391-1396,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(61075075;61175108)

摘　　要：针对独立式车辆跟踪系统中的跟踪精度问题,提出了改进的虚拟柔性曲杆模型算法,该算法主要分为2个部分:构造拟合前车轨迹的虚拟曲杆和计算驱动后车跟随前车运动的曲杆内部作用力.采用三次样条插值增加虚拟柔性曲杆的平滑度,以求更加符合前车轨迹;提出一种自适应控制算法来调节曲杆内部作用力,确保后车平滑并且精确地运动到目标点.进行了虚杆模型在车辆跟踪过程的仿真,结果表明:后车能够在与前车始终保持一定安全距离的情况下,精确拟合前车的轨迹.与现有技术相比,不存在误差累积,有效地提高了精度.This paper proposes an improved virtual flexible bar algorithm for improving the trajectory tracking accu- racy of the automatic vehicle following system. To achieve successful vehicle following, the algorithm mainly con- sists of two parts： construct the flexible bar which can fit the lead vehicle＇s trajectory and calculate the internal force of the flexible bar which pulls the trailing vehicle to track the trajectory. The cubic spline interpolation was ap- plied in order to smooth the flexible bar, thus making it fit the lead vehicle＇s trajectory better. What＇s more, an a- daptive trajectory tracking control was also implemented to maintain the smooth motion of the follower vehicle and make sure that the follower vehicle could carry out the commands transmitted from the controller accurately. The simulation results validate that the follower vehicle is able to trail the trajectories of the lead vehicle and maintain a safe following distance. The proposed model improves the accuracy of vehicle following because it avoids the accu- mulated error, as compared to the other models.

关 键 词：车辆跟踪 轨道跟踪 平滑运动 虚杆模型 自适应控制系统 三次样条插值 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]