重载无人车的速度与方向控制方法  

Speed and direction control method of unmanned heavy vehicle

作　　者：张子才[1] ZHANG Zicai(Transportation Department,Baoshan Iron & Steel Co. ,Ltd. , Shanghai 201999, China)

机构地区：[1]宝山钢铁股份有限公司运输部,上海201999

出　　处：《宝钢技术》2022年第2期60-64,共5页Baosteel Technology

摘　　要：为了使重型车辆实现无人驾驶功能,首先要确保车辆的速度与方向受控。基于重型车辆动力性能特点,分别给出一种速度与方向的计算和控制方法,并针对所提控制方案的理论进行了详细论述。针对纵横向控制,均采用PID控制算法,其中纵向控制主要包括油门与刹车的控制;横向控制中,考虑到横向偏差与朝向偏差这两个参量,设计横向双PID的控制方案。此外,为了更好满足实车控制要求,设定了与速度相关的预瞄距离。经过在不同载重与不同速度下的大量实车测试,有效地验证了所提控制策略的鲁棒性与适应性。In order to realize the driverless function of heavy vehicles,it is necessary to first ensure that the speed and direction of the vehicle are controlled.Based on the characteristics of the power performance of heavy vehicles,the author respectively gives a calculation and control method for speed and direction,and elaborates on the theory of the proposed control scheme.For vertical and lateral control,the author uses PID control algorithm.The vertical control mainly includes the throttle and brake control;in the lateral control,considering the two parameters of lateral deviation and orientation deviation,a horizontal dual PID control scheme is designed.In addition,in order to better meet the actual vehicle control requirements,speed-related preview distance is set.After a large number of real vehicle tests under different loads and different speeds,the robustness and adaptability of the proposed control strategy are effectively verified.

关 键 词：重型车辆 无人驾驶 速度控制 横向控制 

分 类 号：U463.6[机械工程—车辆工程]