智能汽车避障路径规划与跟踪控制研究  

Study on Intelligent Vehicle Obstacle Avoidance Path Planning and Tracking Control

作　　者：吕佳 邱建岗 LV Jia;QIU Jian-gang(Department of Track and Mechanical and Electrical Engineering,Chongqing Jianzhu College,Chongqing 400072 China;Beijing Automotive Powertrain Company Limited,Beijing 101106,China)

机构地区：[1]重庆建筑工程职业学院轨道与机电工程系,重庆400072 [2]北京汽车动力总成有限公司,北京101106

出　　处：《机械设计与制造》2021年第11期166-171,共6页Machinery Design & Manufacture

基　　金：重庆市教委科学技术项目(KJ1740468)。

摘　　要：为了提高智能汽车行驶安全性,提出了基于人工水滴算法的避障路径规划和自适应路径跟踪控制方法。在路径规划方面,模拟水往低处流过程,提出了基于人工水滴算法的路径规划方法,经验证,人工水滴算法在动静态环境下都能够规划出避障路径。在路径跟踪方面,设计了转向控制与速度自适应控制的综合控制器;基于车辆线性二自由度模型,提出了模型预测转向控制;结合预瞄模型和二次规划方法,提出了速度随行驶路况自适应控制方法。经绕桩实验验证,本文提出的综合控制方法最大横向跟踪误差为0.1m,文献[11]提出的控制方法最大横向误差为0.6m,是本文方法的6倍,说明了综合控制器在路径跟踪控制中的精确性,且综合控制器的横摆角速度、侧向加速度均在约束范围内,满足国家标准对车辆的安全性要求。In order to improve running safety of intelligent vehicle,obstacle avoidance path planning based on artificial drop al⁃gorithm and adaptive path tracking method are proposed.In aspect of path planning,simulating the phenomenon of“water flows downhill”,path planning method based on artificial drop algorithm is put forward.It is clarified that obstacle avoidance path can be planned by artificial drop algorithm under both static and dynamic environment.In aspect of path tracking,coordinate controller consisting of turning controller and speed self-adaptive controller is designed.based on linear 2-degree of freedom model of vehicle,model predicting turning control is raised.Speed self-adaptive control with road condition is given integrating preview model and quadratic programming method.Clarified by around the pile experiment,maximum lateral error of compre⁃hensive control method in this essay is 0.1m,and 0.6m by the method in essay,and it is 6 times to the error by this essay method,which can prove the tracking control accuracy of comprehensive controller.Besides,yaw velocity and lateral acceleration are both within bounds,which satisfies national standard safety requirement.

关 键 词：智能汽车 避障路径智能规划 人工水滴算法 综合控制器 

分 类 号：TH16[机械工程—机械制造及自动化] TP273.1[自动化与计算机技术—检测技术与自动化装置]