无人驾驶汽车纵向速度的磁敏传感器控制方法  

Magnetic Sensor Control Method for Longitudinal Speed of Autonomous Vehicles

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

机构地区：[1]三亚学院理工学院,海南三亚2572022 [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,江西南昌330013

出　　处：《机械设计与制造》2024年第11期61-65,70,共6页Machinery Design & Manufacture

基　　金：2021年海南省自然科学基金——面向农用机械的无人驾驶路径规划算法研究(621QN268)。

摘　　要：在无人驾驶汽车行驶过程中,工况的切换导致纵向速度控制难度较大,为提高行驶的稳定性和安全性,提出了基于磁敏传感器的无人驾驶汽车纵向速度控制方法。对无人驾驶汽车纵向运动的参数计算,为磁敏传感器建立基础环境。利用永磁体为磁敏器件提供偏置磁场,计算点磁源磁场强,获得磁敏传感器空间坐标。在空间坐标内,将汽车转速跟踪控制问题转化为连续系统的传感器状态描述,算出加速度和变化速率约束范围,得到最优控制输入增量;为避免制动与驾驶方式频繁转换,将节气门开度和期望制动器主液压控制量作为执行器控制输入,完成汽车纵向速度控制。实验表明,所提方法能够很好地跟踪期望的纵向速度,可以根据探测信息实时地调节控制参数,纵向车速控制效果更加稳定,保证行驶安全。During the driving process of autonomous vehicles,the switching of operating conditions makes it difficult to control longitudinal speed.To improve the stability and safety of driving,a longitudinal speed control method for autonomous vehicles based on magnetic sensors is proposed.Calculate the longitudinal motion parameters of autonomous vehicles,establish a basic environment for magnetic sensors,use permanent magnets to provide bias magnetic fields for magnetic sensors,calculate the magnetic field strength of point magnetic sources,and obtain the spatial coordinates of magnetic sensors.Transform the problem of vehicle speed tracking control into a state description of a continuous system,calculate the constraint range of acceleration and change rate,and obtain the optimal control input increment.To avoid frequent switching between braking and driving mode,the throttle opening and the expected hydraulic control amount of the brake are used as actuator control inputs to complete the longitudinal speed control of the car.The experiment shows that the proposed method can effectively track the expected longitudinal speed and adjust control parameters in real-time based on detection information.The longitudinal speed control effect is more stable,ensuring driving safety.

关 键 词：无人驾驶汽车 纵向速度控制 磁敏传感器 车辆动力学 磁敏传感器 

分 类 号：TH16[机械工程—机械制造及自动化] TH123