When in motion at high speed,it is difficult for vehicles to avoid obstacles safely and steadily.To address this problem,this paper designed a multiaxial wheeled car with transmission to the simulate obstacle-avoidance control.With a relatively large size and a large rotational radius,the car looks similar to heavy transport equipment such as trailers and trucks.The distribution of obstacles was obtained from the dynamic window of the upper computer LabVIEW 2018,based on which the speed of the car was regulated by the transmission so that the car could avoid the obstacles safely and stably.When encountering obstacles,the car read and judged the relevant data,and it took more time for the radar to accept and process those data,resulting in an interval between the running of the computer program and the car.During this interval,the speed of the cars moving over the same period was regulated.The function of this control system was verified through a control experiment which contrasted the cars running at constant speed with those at variable speed under the same environment.The results have shown that the cars at variable speed can avoid obstacles more quickly,reliably and steadily because their displacement are reduced when they make responses to the obstacles.
关键词
自动驾驶小车/避障控制/变速/时间间隔/反应时间
Key words
automated car/control of obstacle avoidance/variable speed/time interval/reaction time
维普
万方数据