基于线控底盘的无人驾驶轨迹跟踪控制研究
Trajectory Tracking Control of Unmanned Driving Based on Wire Controlled Chassis
徐豪迪 1李强 1梁洪波 2杨爱喜3
作者信息
- 1. 浙江科技学院机械与能源工程学院,浙江 杭州 310023
- 2. 安徽交通职业技术学院汽车与工程系,安徽 合肥 230051
- 3. 浙江大学工程师学院,浙江 杭州 310015
- 折叠
摘要
为提高结构化工况下无人驾驶汽车轨迹跟踪的精确性,提出一种融合纵向车速跟踪控制器的预瞄轨迹跟踪控制算法.针对四轮转向的特性,基于传统纯跟踪算法设计了四轮转向纯跟踪控制模型;针对纯跟踪算法跟踪效果受车速影响较大的缺陷,设计了纵向车速跟踪控制器并采用n维插值表方式在不同曲率处设置不同车速;将四轮转向纯跟踪算法融合纵向车速跟踪控制器,以达到更好的跟踪效果.仿真与实车试验表明,试验平台可较精确地跟踪规划轨迹并平稳抵达目标终点,实车轨迹跟踪过程中最大横向误差控制在0.497m.
Abstract
To improve the tracking accuracy of unmanned vehicles under structured working conditions,a preview trajectory tracking control algorithm with longitudinal vehicle speed tracking controller is proposed.Firstly,according to the characteristics of four-wheel steering,a pure pursuit control model of four-wheel steering was designed based on the traditional pure pursuit algorithm.Secondly,aiming at the defect that the tracking effect of pure pursuit algo-rithm was greatly affected by the vehicle speed,a longitudinal vehicle speed tracking controller was designed,and dif-ferent vehicle speeds were set at different curvatures by N-dimensional interpolation table.Finally,four-wheel steering pure pursuit algorithm was combined with longitudinal speed tracking controller to achieve better tracking effect.The simulation and real vehicle test show that the test platform can accurately track the planned trajectory and smoothly reach the target destination,and the maximum lateral error in the track tracking process of real vehicle is controlled at 0.497m.
关键词
无人驾驶/纯跟踪算法/四轮转向/纵向车速跟踪控制器/实车试验Key words
Unmanned driving/Purepursuit algorithm/Four-wheel steering/Longitudinal vehicle speed tracking controller/Real vehicle verification引用本文复制引用
基金项目
浙江省自然科学基金(LY21E050001)
汽车新技术安徽省工程技术研究中心开放基金(QCKJ202105)
出版年
2024
NETL
NSTL
万方数据