基于激光扫描的汽车自适应巡航控制  

Auto adaptive cruise control based on laser scanning

作　　者：孙小霞[1] 石长华[1] SUN Xiaoxia;SHI Changhua(Jingdezhen University,Jingdezhen Jiangxi 333000,China})

机构地区：[1]景德镇学院

出　　处：《激光杂志》2020年第2期146-150,共5页Laser Journal

基　　金：国家自然科学基金项目(No.41061006);江西省教育厅科学技术研究项目(No.GJJ181124)

摘　　要：随着电子技术快速发展,大量新型电子系统应用在汽车行驶中,自适应巡航控制是当下智能汽车的核心控制方法,不仅可以降低驾驶人员的操作强度,还可提升汽车智能性与安全性。采用激光扫描数据聚类的定位方法,获取激光扫描测距仪扫描范围中的车辆目标定位结果与位置,分析振荡器频率、计数器以及激光脉冲宽度对激光扫描测距的影响,计算激光扫描测距误差;通过全范围自适应巡航控制算法,建立汽车跟随TS模糊模型,分析道路上汽车间的跟随状态,并结合激光扫描测距误差计算理想车距,通过最优PD控制器完成汽车自适应巡航控制。通过实验分析可得,该方法控制汽车的期望距离与实际控制距离几乎一致,在三种不同类型道路上控制汽车自适应巡航加速、减速时,稳定性较高。With the rapid development of electronic technology,a large number of new electronic systems have been applied in the automobiles driving.Adaptive cruise control is the core control method of intelligent automobiles.It can not only reduce the complexity of driversz operation,but also improve the intelligence and safety of automobiles.Laser scanning data clustering method is used to locate the vehicle target in the scanning range of laser scanning rangefinder.The influences of oscillator frequency,counter and laser pulse width on laser scanning rangefinder are analyzed,and the laser scanning range finder error is calculated.The T-S fuzzy model of vehicle following is established by full range adaptive cruise control algorithm,and the road is analyzed.The ideal vehicle distance is calculated by combining the tracking state between vehicles with the laser scanning ranging error,and the adaptive cruise control of the vehicle is completed by the optimal PD controller.The experimental results show that the expected distance of the vehicle controlled by this method is almost the same as the actual distance.When the vehicle is controlled on three different types of roads to accelerate and decelerate the adaptive cruise,the stability of the method is higher.

关 键 词：激光扫描 汽车 自适应巡航 测距 全范围 跟随状态 PD控制器 

分 类 号：TN273[电子电信—物理电子学]