无人车弯道控制技术研究  

Curve Control Technology on Unmanned Vehicle

作　　者：谭宝成[1] 吕田[1] 李博[1] 

机构地区：[1]西安工业大学电子信息工程学院,西安710021

出　　处：《计算机与数字工程》2016年第4期591-595,共5页Computer & Digital Engineering

基　　金：中央财政支持地方高校专项发展基金(编号:CXY1080)资助

摘　　要：为了解决无人车在不同弯道工况下对速度、航向的控制调节问题,利用车载倾角传感器按时间序列采集的倾角数据,采用自回归分析算法对未来时刻的倾角值进行预测。根据侧倾角与弯道半径之间的关系计算出对应的弯道半径值,以预测的半径值作为无人车的转向半径,对车速和方向转角进行调节,以此控制无人车通过弯道。论文在半径为30.5m的弯道进行实验,结果表明该方法的预测弯道半径偏差小于1.5m,预测精度较高。In order to solve the unmanned vehicle operating conditions in the different corners of speed,heading control problem,using on-board angle sensor inclination of the data according to time sequence,self regression analysis algorithm inclination value of the future is used for the moment forecast.According to the roll angle and the relationship between the bend radius calculated curve radius value of the corresponding,regarding the opredicted radius of the value as the unmanned vehicle steering radius,the speed and direction angle are adjusted.Based on the curve experiment with radius of 30.5meters,the results show that the method of forecasting curve radius deviation is less than 1.5meters,higher prediction precision.

关 键 词：无人车 弯道半径 车身侧倾角 预测方法 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程]