基于预瞄的智能车位姿补偿轨迹跟踪算法  

Intelligent Vehicle Position and Attitude Compensation Trajectory Tracking Algorithm Based on Preview

作　　者：王军雷[1] 李健明 吴学易 Wang Junlei;Li Jianming;Wu Xueyi(China Automotive Technology&Research Center Co.Ltd,Tianjin 300300)

机构地区：[1]中国汽车技术研究中心有限公司,天津300300

出　　处：《汽车实用技术》2020年第21期40-45,共6页Automobile Applied Technology

摘　　要：针对单点预瞄、模糊控制等轨迹跟踪算法鲁棒性低以及模型预测控制算法计算量大、参数不易确定的问题,提出基于预瞄的智能车位姿补偿轨迹跟踪算法。通过建立目标车辆的运动学模型,在轨迹跟踪建模时进行位姿补偿,降低执行机构延时;使用预瞄算法,构建智能车转向模型,求解最优方向盘转角。实车测试结果表明,所提轨迹跟踪算法通过对位姿进行实时补偿,可以进一步减小横向误差,具有实时性高,鲁棒性好的特点,能够满足智能网联汽车实际运行需要。Aiming at the problems of low robustness of trajectory tracking algorithms such as single-point preview and fuzzy control,large amount of calculation and difficult determination of parameters of model predictive control algorithm,an intelligent vehicle position and attitude compensation trajectory tracking algorithm based on preview is proposed.The kinematic model of the target vehicle is established,and the position and attitude compensation is carried out during the track tracking modeling to reduce the actuator delay.Using preview algorithm,the steering model of intelligent vehicle is built to solve the optimal steering wheel angle.The experimental results show that the proposed trajectory tracking algorithm can further reduce the lateral error by real-time compensation of the pose.It has the characteristics of high real-time performance and good robustness,and can meet the actual operation needs of the intelligent connected vehicle.

关 键 词：轨迹跟踪 两点预瞄 位姿预测 位姿补偿 最优转向角 智能网联汽车 

分 类 号：U462[机械工程—车辆工程]