基于三次多项式的遇障行驶速度规划在工程车上的应用  

Application of Cubic Polynomial-Based Speed Planning for Obstacle Traveling on Engineering Vehicles

作　　者：张佳谋 田兴春 任宏亮 祁维婧 刘聪博 伍静雯 ZHANG Jiamou;TIAN Xingchun;REN Hongliang;QI Weijing;LIU Congbo;WU Jingwen(Xian mainfun Intelligent Technology Co.,Ltd.,Xi'an,Shaanxi Province,712000 China)

机构地区：[1]西安主函数智能科技有限公司,陕西西安712000

出　　处：《汽车知识》2023年第9期124-126,共3页Auto Know

摘　　要：该文通过实践测试,验证了一种分层控制思想下实现车辆遇障碍的速度规划过程。通过使用实测数据和数学函数三次多项式结合。通过实际测试了同力I90M宽体车的不同速度下,最舒适制动减速度时的停车距离,然后使用三次多项式,对目标期望的加速度进行设置,然后对单点数据进行平滑处理,作为车辆跟随的目标行驶速度,实现了车辆遇静止障碍物、运动障碍物时,本车跟随的需求速度的设定方法,实现了需求速度变化平滑、车辆遇障行驶过程平顺的控制方式。This article verifies the speed planning process of vehicles encountering obstacles under a hierarchical control concept through practical testing.By combining measured data with a cubic polynomial of a mathematical function.Through practical testing,the stopping distance at the most comfortable braking deceleration for the same force I90M wide body vehicle at different speeds was determined.Then,a cubic polynomial was used to set the desired acceleration for the target,and the single point data was smoothed to serve as the target driving speed for the vehicle to follow.The method of setting the required speed for the vehicle to follow when encountering stationary or moving obstacles was achieved,achieving smooth changes in the required speed The control method for smooth driving of vehicles when encountering obstacles.

关 键 词：ACC巡航 速度平滑 三次多项式 

分 类 号：U461[机械工程—车辆工程]