无人驾驶清扫车的路径跟踪及远程控制  

Path tracking and remote control of driverless sweeper

作　　者：孙智威 裴晓飞[1] 刘一平 雍成昊 陈词 SUN Zhiwei;PEI Xiaofei;LIU Yiping;YONG Chenghao;CHEN Ci(Hubei Key Laboratory of modern auto parts,Wuhan University of technology,Wuhan 430070,China;Wuhan University of technology,School of automotive engineering,Wuhan 430070,China)

机构地区：[1]武汉理工大学,现代汽车零部件湖北省重点实验室,武汉430070 [2]武汉理工大学汽车工程学院,武汉430070

出　　处：《汽车安全与节能学报》2022年第4期729-737,共9页Journal of Automotive Safety and Energy

基　　金：现代汽车零部件技术湖北省重点实验室开放基金资助项目(XDQCKF2021009);湖北省技术创新重大专项(2020DEB014)。

摘　　要：开展了电动清扫车的无人化研究。研究了车辆路径跟踪和远程控制,并进行了实车实验。对原型车辆进行底盘线控化改装,设计了无人清扫车的软硬件架构。路径跟踪控制采用前馈加反馈方法,前馈控制采用纯跟踪方法,反馈控制以车辆和参考路径之间的位置偏差进行滑模控制。结果表明:相较于单纯的反馈控制方法,使用前馈加反馈控制方法下的车辆位置偏差减小67.41%,前轮转角整体波动减小7.56%,侧向加速度整体波动减小8.04%。前馈加反馈控制方法下的车辆跟踪精度更高,横向运动更加平滑。因而,本文所设计的路径跟踪及远程控制方案安全可靠,可望有较好的工程应用价值。An unmanned research was were carried out for an electric driverless sweeper to investigate the vehicle path tracking and the remote control with carrying real vehicle experiments. A prototype vehicle was modified by using wire-controlled chassis with designed the software and the hardware architecture of the driverless sweeper. The path tracking control adopted the feedforward plus feedback method, the feedforward control adopted the pure tracking method, and the feedback control used the position deviation between the vehicle and the reference path to perform sliding mode control. The results show that compared with the pure feedback control method, the vehicle position deviation under the feedforward plus feedback control method is reduced by 67.41%, the overall fluctuation of the front wheel angle is reduced by 7.56%, and the overall fluctuation of the lateral acceleration is reduced by 8.04%. The vehicle tracking accuracy under the feedforward plus feedback control method is higher, and the lateral motion is smoother. Therefore, the path tracking and remote-control scheme designed in this paper is safe and reliable, and will have good engineering application value.

关 键 词：无人驾驶车辆 清扫车 路径跟踪 远程控制 线控底盘 

分 类 号：U461.91[机械工程—车辆工程]