基于时滞补偿的纯追踪控制预瞄距离优化方法  

Look-ahead distance optimization method for pure pursuit control based on time delay compensation

作　　者：汤新华[1,2] 成宇庆 潘树国 鲍亚川[3] 黄璐 蔚保国 TANG Xinhua;CHENG Yuqing;PAN Shuguo;BAO Yachuan;HUANG Lu;WEI Baoguo(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China;Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology of Ministry of Education,Nanjing 210096,China;The State Key Laboratory of Satellite Navigation System and Equipment Technology,Shijiazhuang 050081,China)

机构地区：[1]东南大学仪器科学与工程学院,南京210096 [2]微惯性仪表与先进导航技术教育部重点实验室,南京210096 [3]卫星导航系统与装备技术国家重点实验室,石家庄050081

出　　处：《中国惯性技术学报》2023年第9期876-882,共7页Journal of Chinese Inertial Technology

基　　金：国家十四五重点研发计划(2021YFB3900804)。

摘　　要：纯追踪算法是无人驾驶领域中常用的路径跟踪算法,其中预瞄距离的选择影响着路径自主跟踪的精度。针对实际车辆时滞导致理论最优预瞄距离与实际最优预瞄距离不符的问题,提出了一种基于时滞补偿的纯追踪控制预瞄距离优化方法。首先,基于时延和迟滞对传统模型的影响,更新时滞车辆模型;其次,设计了一种改进樽海鞘优化算法对预瞄距离进行优化,研究不同车辆速度下最优预瞄距离配置,得到了仿真平台下最优预瞄距离和速度的一次线性关系式;最后,在实际车辆平台上,对所提优化方法进行了实验验证。实验结果表明:相比于传统模型,加入时滞补偿所得最优预瞄准确率提高了67.55%。Pure pursuit algorithm has been widely employed in the field of driving control of autonomous vehicles,in which the choice of look-ahead distance has a great influence on autonomous path-tracking performance.In order to solve the problem that the theoretical optimal look-ahead distance is inconsistent with the actual optimal look-ahead distance due to the time delay of the actual vehicle,a look-ahead distance optimization method for pure pursuit control based on time delay compensation is proposed.Firstly,based on the effects of delay and lag on the traditional model,the vehicle model with delay is updated.Secondly,an optimization algorithm of look-ahead distance based on adaptive Brownian motion salp swarm algorithm(ABMSSA)is proposed to provide the optimal solution of look-ahead distance regarding the different cases with different velocities of a vehicle,specifically,a mathematical expression is obtained to describe the relationship between optimized look-ahead distance and the velocity of the vehicle under the simulation platform.Finally,the proposed algorithm is tested on an automated vehicle platform.Experimental results show that compared with the traditional model,the optimal look-ahead accuracy adding time delay compensation is increased by 67.55%.

关 键 词：无人驾驶车辆 纯追踪控制器 最优预瞄距离 时延 改进樽海鞘算法 

分 类 号：U463.6[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]