感应传感器在无人驾驶汽车轨迹控制中的应用  

Application of Inductive Sensors in Trajectory Control of Autonomous Vehicles

作　　者：王篮仪 张薇[3] 罗通[1] WANG Lanyi;ZHANC Wei;LUO Tong(Institute of Technology,University of Sanya,Sanya Hainan 572022,China;Academician Guoliang Chen Team Innovation Center,Sanya Hainan 572022,China;School of Software,East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]三亚学院理工学院,海南三亚572022 [2]陈国良院士团队创新中心,海南三亚572022 [3]华东交通大学软件学院,南昌330013

出　　处：《机械设计与研究》2024年第3期147-151,169,共6页Machine Design And Research

基　　金：2021年海南省自然科学基金项目(621QN268)。

摘　　要：无人驾驶汽车需要准确地感知周围环境,包括道路、障碍物、交通标志、行人等。对无人驾驶汽车轨迹控制,可以减少人为驾驶错误和疲劳驾驶引发的事故,提高行车安全。因此,提出了感应传感器在无人驾驶汽车轨迹控制中的应用。构建无人驾驶汽车二自由度模型,计算车辆前后轮倾斜角度,获得车辆运动计算式。按照感应传感器感知盲区算出车辆安全距离,取较小边缘线加速度,明确最佳跟随安全范围。利用比例-积分-微分(Proportion Integration Differentiation, PID)反馈控制方法,对汽车角度与前进速度反馈控制与调节,以此实现精准的轨迹控制。实验结果表明,感应传感器能够清楚感知无人驾驶汽车轨迹,应用后控制效果好,误差小,能够保证车辆运行安全稳定。Autonomous vehicles need to accurately perceive the surrounding environment,including roads,obstacles,traffic signs,pedestrians,etc.Controlling the trajectory of autonomous vehicles can reduce accidents caused by human driving errors and fatigue driving,and improve driving safety.Therefore,the application of induction sensors in trajectory control of autonomous vehicles is proposed.A two-degrees-of-freedom model for autonomous vehicles is constructed.The inclination angles of the front and rear wheels of the vehicle are calculated.And the vehicle motion calculation formula is obtained.The safe distance of the vehicle is calculated based on the sensing sensor's perception of blind spots;a smaller edge line acceleration is taken,and the optimal following safety range is determined.Using the proportional integral dfferential(PID)feedback control method,the angle and forward speed of the vehicle are controlled and adjusted through feedback,achieving precise trajectory control.The experimental results show that the induction sensor can clearly perceive the trajectory of unmanned vehicles.The control performance is good with small errors,ensuring the safe and stable operation of the vehicle.

关 键 词：感应传感器 无人驾驶汽车 轨迹控制 感知安全距离 PID控制器 

分 类 号：U471.1[机械工程—车辆工程]