一种防侧滑/侧翻的车辆路径规划方法  

A Vehicle Path Planning Method Against Sideslip/Rollover

作　　者：高超 李擎[1] 李伟文 李亚峰 GAO Chao;LI Qing;LI Wei-wen;LI Ya-feng(Beijing Information Science Technology University Institute of Intelligence Control,Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing 100192,China)

机构地区：[1]北京信息科技大学高动态导航技术北京市重点实验室,北京100192

出　　处：《机械设计与制造》2023年第9期263-267,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金(No.61971048,No.61771059)。

摘　　要：在基于动态窗口法(DWA)的车辆非完整约束条件下的路径规划过程中,针对路径选择时以往不考虑车辆横向稳定性的问题,提出一种包含侧向加速度因子的横向稳定性评价的动态窗口路径规划算法。首先建立车辆运动模型;然后根据车辆转弯过程中不发生侧滑/侧翻的条件(侧倾力矩不大于回正力矩)建立约束方程,选择侧向加速度作为横向稳定性评价指标,通过计算得到安全转向的最大侧向加速度;最后将侧向加速度作为横向稳定性评价因子添加到路径选择的评价函数中,侧向加速度越小,该项评分越高,最大安全侧向加速度时,该项得分为0。仿真实验结果表明,防侧滑/侧翻的车辆路径规划方法能够实现对车辆横向稳定性的控制,对车辆转弯安全行驶研究具有指导价值,在无人车避障、汽车辅助驾驶等方面具有重要的应用价值。In the process of path planning based on dynamic window approach(DWA)under vehicle nonholonomic constraints,aiming at the problem that the lateral stability of vehicle was not considered in the past,a dynamic window path planning algo⁃rithm including lateral acceleration factor was proposed in this paper.Firstly,the vehicle motion model is established;secondly,the constraint equation is established according to the condition of no sideslip/rollover(the roll moment is not greater than the righting moment),and the lateral acceleration is selected as the lateral stability evaluation index,and the maximum lateral ac⁃celeration of safe steering is obtained through calculation;finally,the lateral acceleration is added to the route selection as the lateral stability evaluation factor In the evaluation function,the smaller the lateral acceleration is,the higher the score is.When the maximum safe lateral acceleration is,the score of this item is 0.The simulation results show that the vehicle path planning method of anti sideslip/rollover can control the lateral stability of the vehicle,and has guiding value for the research of vehicle turning safety,and has important application value in the aspects of unmanned vehicle obstacle avoidance and automobile auxil⁃iary driving.

关 键 词：动态窗口法 防侧滑/侧翻 横向稳定性 侧向加速度 路径规划 车辆 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]