基于预瞄的车辆路径跟踪控制研究

发布时间：2018-01-09 05:12

本文关键词：基于预瞄的车辆路径跟踪控制研究　出处：《哈尔滨工业大学》2014年硕士论文　论文类型：学位论文

【摘要】：随着汽车保有量稳步增加，由汽车带来的各种社会问题也凸显了出来。我国每年因车祸死亡的人数高达惊人的数十万，而这些车祸基本上都是由驾驶员操作失误造成的；另外，由不合理的路径规划造成的城市交通拥堵也是一个亟待解决的问题。研究开发无人驾驶车辆被认为是解决以上这些问题的有效途径，但目前对无人驾驶车辆路径跟踪控制的研究还很少，而且已有的研究中往往只侧重于对位置误差的控制，很少通过对质心侧偏角的控制来提高行驶稳定性，并且针对参数不确定等情况下的控制算法设计也有待进一步深入。本文对无人驾驶四轮转向车辆的路径跟踪控制方法进行了研究，建立了基于“魔术公式”的非线性轮胎模型，建立了四轮转向车辆的动力学方程和基于预瞄的横向误差模型。采用滑模控制方法建立了路径跟踪和车距保持控制器，通过仿真验证了控制器的控制效果。通过对耦合和非耦合的仿真结果进行对比，显示出耦合性设计分析在车辆控制系统研发中的重要性；通过分析对比相同道路曲率条件下，前轮转向和四轮转向车辆的跟踪误差，显示出四轮转向车辆更好的操纵稳定性和路径跟踪能力；此外，对3种不同曲率道路的仿真结果显示，四轮转向车辆对不同曲率的道路具有更强的适应能力。提出了一种基于预瞄的期望道路曲率修正算法，以防止曲率突变降低车辆操纵稳定性和舒适性，并通过仿真验证了其有效性。针对车辆参数未知的情况建立了滑模自适应控制器，仿真结果显示，，控制器在有效控制误差的同时还能精确估计控制器中的未知系数。针对车辆模型未知的情况设计了模糊控制器，用Carsim与Matlab进行了联合仿真，对无人驾驶前轮转向车辆和四轮转向车辆的路径跟踪控制仿真结果进行对比分析，结果证明，模糊控制器能够有效控制模型未知的车辆实现对目标路径的跟踪。
[Abstract]:As car ownership has increased steadily, various social problems brought by automobiles are highlighted. Due to the number of car accident death of up to hundreds of thousands of amazing every year, and these accidents are basically caused by pilot error; in addition, the city caused by traffic congestion is an urgent problem to be solved by the path planning is not reasonable. The research and development of unmanned vehicle is considered to be the effective way to solve these problems, but few researches are currently on the unmanned vehicle path tracking control, and the existing research often only focus on the control of position error, by controlling the center of mass of the side slip angle of little to improve driving stability and for the design of control algorithm with uncertain parameters under such circumstances also needs further.
The unmanned vehicle path tracking control method of four wheel steering, based on the "magic formula" nonlinear tire model, established the four wheel steering vehicle based on lateral dynamics equation and error model of the preview.
The sliding mode control method is established for path tracking and vehicle distance control system, the simulation result shows that the control effect of the controller. Through comparing the simulation results of the coupling and non coupling, shows the coupling design and analysis in the vehicle control system importance in development; comparative analysis of the same conditions through the road curvature, front wheel steering and four the steering wheel tracking error of the vehicle, four wheel steering vehicle shows better handling stability and path tracking ability; in addition, the simulation of 3 different road curvature. The results show that the vehicle has a stronger ability to adapt to the curvature of the road with four wheel steering.
This paper proposes an expected path curvature correction algorithm based on the preview, in order to prevent the abrupt change of curvature reduce vehicle handling stability and comfort, and its effectiveness is verified by simulation. The adaptive sliding mode controller is established for the vehicle with unknown parameters, the simulation results show that the controller can effectively control the error in the accurate estimation of the unknown coefficient controller in.
For unknown vehicle model design a fuzzy controller, using Carsim and Matlab simulation was carried out, the path of unmanned vehicle front wheel steering and four wheel steering tracking control simulation results are compared and analyzed. The results show that the target path tracking fuzzy controller can effectively control the unknown system model of the vehicle.

【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U495;U463.6

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