智能驾驶车辆纵横向运动控制仿真研究  

Simulation Research on Longitudinal and Lateral Motion Control of Intelligent Driving Vehicles

作　　者：谭海鑫 TAN Haixin

机构地区：[1]不详

出　　处：《汽车实用技术》2022年第24期46-51,共6页Automobile Applied Technology

摘　　要：文章分析了智能驾驶车辆纵、横向运动特性,作出合理假设,并建立纵横向车辆动力学模型。分别设定车辆纵、横向运动的期望轨迹,基于线性二次型调节器(LQR)方法控制车辆横向运动,运用比例-积分-微分(PID)控制器调节车辆纵向运动。结合Carsim软件建立车辆运动模型,并在Matlab/Simulink中分别建立车辆纵、横向控制算法。仿真分析表明,车辆纵、横向运动控制算法具有良好的控制效果,使得仿真车辆很好地跟踪了期望运动轨迹。This paper analyzed the longitudinal and lateral motion characteristics of intelligent driving vehicles, made reasonable assumptions, and established longitudinal and lateral vehicle dynamics models. Set the desired trajectory of the longitudinal and lateral movement of the vehicle separately, control the lateral movement of the vehicle based on the linear quadratic regulator(LQR)method, and use the proportional-integral-derivative(PID) controller to adjust the longitudinal movement of the vehicle. Combine Carsim software to establish vehicle motion model, and establish vehicle longitudinal and lateral control algorithms in Matlab/Simulink. After simulation analysis, the vehicle longitudinal and lateral motion control algorithm has a good control effect,which makes the simulated vehicle track the expected motion trajectory well.

关 键 词：智能驾驶 纵横向运动 线性二次型调节器 比例-积分-微分控制器 CARSIM MATLAB/SIMULINK 车辆运动模型 

分 类 号：U495[交通运输工程—交通运输规划与管理]