基于传感器融合技术的自动驾驶车辆轨迹跟踪与控制方案研究
Research on the Trajectory Tracking and Control Scheme of Autonomous Vehicle based on Sensor Fusion Technology
郭建宏1
作者信息
- 1. 兰州石化职业技术大学 甘肃 兰州 730060
- 折叠
摘要
文章旨在探讨基于传感器融合技术的自动驾驶车辆轨迹跟踪与控制方案.针对自动驾驶汽车在实际道路环境中需要准确跟踪车辆轨迹以实现安全、高效的驾驶需求,提出了一种综合利用多传感器数据的轨迹跟踪与控制方法.文章首先分析了传感器融合技术在自动驾驶领域的重要性和应用前景,并介绍了基于雷达、摄像头、激光雷达等传感器的数据融合方法.接着,提出了一种基于模型预测控制(MPC)的轨迹跟踪算法,利用多传感器数据实时更新车辆动态模型,并通过优化控制器参数以实现精确轨迹跟踪.最后,通过仿真实验和实际道路测试验证了所提方案的有效性和鲁棒性,结果表明该方法在各种道路场景下都能够实现稳定、准确的轨迹跟踪与控制.
Abstract
This paper aims to explore the trajectory tracking and control scheme of autonomous vehicles based on sensor fusion technology.Aiming at the need of accurately tracking the trajectory of autonomous vehicles in the actual road environment to achieve safe and efficient driving requirements,a trajectory tracking and control method of comprehensively using multi-sensor data is proposed.The paper first analyzes the importance and application prospect of sensor fusion technology in the field of autonomous driving,and introduces the data fusion method based on radar,camera,lidar and other sensors.Then,a trajectory tracking algorithm based on model prediction control(MPC)is proposed to update the vehicle dynamic model with multi-sensor data and optimize the controller parameters.Finally,the effectiveness and robustness of the proposed scheme are verified through simulation experiments and actual road tests,and the results show that the proposed method can achieve stable and accurate trajectory tracking and control in various road scenarios.
关键词
自动驾驶汽车/传感器融合/轨迹跟踪/模型预测控制/数据融合Key words
Autonomous Driving/Vehicle Sensor Fusion/Trajectory Tracking/Model Prediction Control/Data Fusion引用本文复制引用
出版年
2024
NETL
NSTL
万方数据