基于GIS地图的智能车辆分车道导航及跟踪控制研究

发布时间：2018-04-19 10:28

本文选题：智能车辆 + 轨迹跟踪控制　；参考：《山东理工大学》2013年硕士论文

【摘要】：随着GIS (Geographic Information System)技术的不断发展与汽车定位精度的不断提高,如何将高信息量的GIS地图应用到智能车的导航控制中,使得智能车的轨迹跟踪控制能够达到车道级别的精度要求,已经成为了当前智能车技术发展的又一趋势。在这种趋势的引导下,为实现智能车辆基于GIS地图的车道级导航及轨迹跟踪控制,本文以城市中最为常见的前轮驱动前轮转向的四轮轿车为研究对象,推导了该汽车的位姿预测模型,总结了驾驶员理想的操纵习惯,进行了智能车基于车道级轨迹模型的轨迹跟踪控制研究。本文的主要研究内容如下： (1)为解决控制对象的问题,利用前轮驱动前轮转向汽车的运动方程,推导了用于表示该汽车实际位置点与其前轮转角和横摆角的位姿预测模型,并对其计算方法进行了简化。 (2)为使智能车的轨迹跟踪精度能达到车道级别的要求,论文在采集和分析某城市交通环境中驾驶员的操纵行为以及汽车实际的行驶轨迹的基础上,总结了驾驶员在进行理想轨迹,尤其是理想的转弯轨迹跟踪时的操纵习惯。然后,论文将其转化成为一种基于驾驶员操纵习惯的智能车理想转弯轨迹跟踪控制方法,并以所推导的预测模型为控制对象,通过大量的仿真运算验证了该控制方法的可行性。 (3)为使得汽车能够进行车道级别的理想轨迹模型的跟踪,论文在所提出的基于驾驶员操纵习惯的理想转弯轨迹跟踪控制方法的基础上,将该控制方法融入到汽车行驶工况的判定中,制定了智能车基于理想轨迹模型的轨迹跟踪控制方法,并对该控制方法进行了仿真计算以验证其控制效果。 (4)为使智能车可以实现最终的基于GIS地图的轨迹跟踪控制,论文在已绘制好的具有某城市车道级别的道路网GIS地图中制作了一个汽车要跟踪的最优轨迹模型。然后,论文利用所提出的迹跟踪控制方法,对该轨迹模型进行了跟踪计算。最后,仿真结果导入到所建立的地图中进行了控制方法可行性的验证。通过上述内容的研究,本文验证了论文所提出的轨迹跟踪控制方法能够将汽车的横向位置误差控制在0.15m以内,横摆角误差控制在0.001rad以内,其控制精度可有效保证汽车在已规划好的车道内行驶。同时还验证了论文所提出的智能车基于GIS地图的轨迹跟踪控制方法的有效性与可行性。
[Abstract]:With the continuous development of GIS Information system technology and the improvement of vehicle positioning accuracy, how to apply the high-information GIS map to the navigation control of intelligent vehicle, so that the track tracking control of intelligent vehicle can meet the precision requirement of lane level.Has become the current smart car technology development another trend.Under the guidance of this trend, in order to realize the driveway navigation and track tracking control of intelligent vehicle based on GIS map, this paper takes the four-wheeled car which is the most common front wheel driving front wheel steering in the city as the research object.The position and pose prediction model of the vehicle is derived, and the ideal handling habits of the driver are summarized, and the trajectory tracking control of the intelligent vehicle based on the drive-level trajectory model is studied.The main contents of this paper are as follows:1) in order to solve the problem of control object, using the motion equation of front wheel steering vehicle, the position and pose prediction model which is used to express the actual position point of the vehicle and its front wheel rotation angle and yaw angle is derived, and its calculation method is simplified.In order to make the track tracking precision of intelligent vehicle reach the requirement of lane level, the paper collects and analyzes the driver's handling behavior and the actual driving track of a certain city traffic environment.The maneuvering habits of the driver in the ideal trajectory, especially in the ideal turn track tracking are summarized.Then, the paper transforms it into an ideal turning trajectory tracking control method based on the driver's control habit, and takes the derived predictive model as the control object, and verifies the feasibility of the control method through a large number of simulation operations.In order to enable the vehicle to track the ideal trajectory model of lane level, this paper proposes an ideal turning trajectory tracking control method based on driver's control habits.The control method is integrated into the determination of vehicle driving condition, and the intelligent vehicle trajectory tracking control method based on ideal trajectory model is established, and the control method is simulated and calculated to verify its control effect.4) in order to realize the final trajectory tracking control based on GIS map, an optimal track model of the vehicle is made in the GIS map of the road network with a certain city lane level drawn up in this paper.Then, the track model is calculated by using the proposed tracking control method.Finally, the simulation results are imported into the established map to verify the feasibility of the control method.Through the above research, this paper verifies that the trajectory tracking control method proposed in this paper can control the lateral position error of vehicle within 0.15 m and the yaw angle error within 0.001rad.The control precision can effectively guarantee the vehicle running in the planned lane.At the same time, the effectiveness and feasibility of the trajectory tracking control method based on GIS map of intelligent vehicle proposed in this paper are verified.
【学位授予单位】：山东理工大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：U495;P208

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