侧向速度已知与未知情形下智能车辆路径跟踪
发布时间：2018-10-18 07:17
【摘要】：随着汽车普及率的快速增长,各种各样的交通问题经常发生,不仅给人们的工作和生活造成很多困扰,还导致了大量的人员伤亡和经济损失。鉴于这些交通问题的频繁发生,大量的研究人员开始对智能车辆控制展开研究。智能车辆是一种典型的高新技术综合体,它综合运用了计算机学、机器人学、传感器、控制器、信息通信等技术,在很多工程领域都具有广泛的应用前景。在智能车辆控制领域中,路径跟踪控制技术是最重要的控制技术之一,是保证车辆沿期望路径精确跟踪和安全行驶的关键。车辆在进行路径跟踪过程中,首要的控制目标是侧向控制。这样就需要一个具有高性能的控制器来确保车辆在进行路径跟踪时具有处理突发的紧急情况的能力。而车辆在行驶过程中,侧向速度的大小是决定车辆能否按期望路线精确行驶的一个关键因素。当车辆发生侧偏时,就需要控制器对车辆作出调节来使车辆回到安全的行驶状态中,从而实现安全行驶。目前,针对车辆侧向速度的控制技术已经比较成熟,但这大多数都是在侧向速度已知的情况下做出的研究。在实际情况中,侧向速度的测量是需要通过传感器来实现的,但这样的传感器成本很高,在商用汽车领域难以应用。所以本文在考虑车辆侧向速度未知的情况下构造一个扩张状态观测器,通过观测器对车辆侧向速度进行估计,然后控制器根据状态观测器所估计的侧向速度施加相应的控制,从而实现车辆路径跟踪控制。这样既节约了成本,又提高了车辆安全性。正是这些激发了本文的研究。本文的主要研究工作如下：第一章,主要介绍智能车辆的研究背景与研究意义,回顾了近年来车辆路径跟踪控制发展现状。第二章,主要研究在侧向速度已知情形下车辆的路径跟踪问题。针对车辆侧向速度已知的情形,建立带有时变不确定侧偏刚度的多面体线性车辆模型,并设计相应的控制器来实现车辆路径跟踪控制。通过李雅普诺夫(Lyapunov)方法和线性矩阵不等式(LM)方法给出控制器增益的存在条件。最后通过仿真实验验证所提方法的有效性。第三章,主要研究在侧向速度未知情形下车辆的路径跟踪问题。针对车辆侧向速度未知的情形,建立带有未知干扰的车辆模型,并构造一个扩张状态观测器(ESO)对未知的侧向速度和干扰进行估计,然后设计一个基于扩张状态观测器的自抗扰控制器(ADRC)来实现车辆的路径跟踪控制。最后通过仿真验证所提扩张状态观测器的有效性和自抗扰控制器的抗干扰能力。第四章,总结了本文的工作,并对后续工作进行了展望。
[Abstract]:With the rapid growth of car penetration, various traffic problems often occur, which not only cause a lot of troubles to people's work and life, but also lead to a large number of casualties and economic losses. Due to the frequent occurrence of these traffic problems, a large number of researchers began to study intelligent vehicle control. Intelligent vehicle is a kind of typical high-tech synthesis, which uses computer science, robotics, sensor, controller, information communication technology and so on. It has a wide application prospect in many engineering fields. In the field of intelligent vehicle control, the path tracking control technology is one of the most important control techniques, which is the key to ensure the accurate tracking and safe driving of the vehicle along the desired path. In the course of vehicle path tracking, the primary control target is lateral control. Therefore, a high performance controller is needed to ensure that the vehicle has the ability to deal with sudden emergencies in path tracking. The magnitude of lateral speed is a key factor to determine whether the vehicle can travel accurately according to the desired route. When the vehicle side deviates, the controller is needed to adjust the vehicle to make the vehicle return to the safe driving state, so as to realize the safe driving. At present, vehicle lateral speed control technology has been more mature, but most of these are done under the condition of known lateral speed. In practice, the measurement of lateral velocity needs to be realized by sensors, but the cost of such sensors is very high, so it is difficult to apply in the field of commercial vehicles. In this paper, an extended state observer is constructed considering the unknown lateral velocity of the vehicle, and the lateral velocity of the vehicle is estimated by the observer, and then the controller exerts the corresponding control according to the lateral velocity estimated by the state observer. In order to achieve vehicle path tracking control. This not only saves the cost, but also improves the safety of the vehicle. It is these that inspire the research in this paper. The main research work of this paper is as follows: in Chapter 1, the research background and significance of intelligent vehicle are introduced, and the development status of vehicle path tracking control in recent years is reviewed. In the second chapter, the problem of vehicle path tracking under the condition of known lateral speed is studied. A polyhedron linear vehicle model with time-varying uncertain lateral deflection stiffness is established for the case of known lateral velocity and a corresponding controller is designed to realize the vehicle path tracking control. The existence condition of controller gain is given by Lyapunov (Lyapunov) method and linear matrix inequality (LM) method. Finally, the effectiveness of the proposed method is verified by simulation experiments. In the third chapter, the problem of vehicle path tracking under the condition of unknown lateral speed is studied. In the case of unknown lateral velocity, a vehicle model with unknown disturbance is established, and an extended state observer (ESO) is constructed to estimate the unknown lateral velocity and disturbance. Then an active disturbance rejection controller (ADRC) based on extended state observer is designed to realize the vehicle path tracking control. Finally, the effectiveness of the proposed extended state observer and the anti-interference ability of the active disturbance rejection controller are verified by simulation. In the fourth chapter, the work of this paper is summarized, and the future work is prospected.
【学位授予单位】：山西大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U495;U463.6
本文编号：2278395
[Abstract]:With the rapid growth of car penetration, various traffic problems often occur, which not only cause a lot of troubles to people's work and life, but also lead to a large number of casualties and economic losses. Due to the frequent occurrence of these traffic problems, a large number of researchers began to study intelligent vehicle control. Intelligent vehicle is a kind of typical high-tech synthesis, which uses computer science, robotics, sensor, controller, information communication technology and so on. It has a wide application prospect in many engineering fields. In the field of intelligent vehicle control, the path tracking control technology is one of the most important control techniques, which is the key to ensure the accurate tracking and safe driving of the vehicle along the desired path. In the course of vehicle path tracking, the primary control target is lateral control. Therefore, a high performance controller is needed to ensure that the vehicle has the ability to deal with sudden emergencies in path tracking. The magnitude of lateral speed is a key factor to determine whether the vehicle can travel accurately according to the desired route. When the vehicle side deviates, the controller is needed to adjust the vehicle to make the vehicle return to the safe driving state, so as to realize the safe driving. At present, vehicle lateral speed control technology has been more mature, but most of these are done under the condition of known lateral speed. In practice, the measurement of lateral velocity needs to be realized by sensors, but the cost of such sensors is very high, so it is difficult to apply in the field of commercial vehicles. In this paper, an extended state observer is constructed considering the unknown lateral velocity of the vehicle, and the lateral velocity of the vehicle is estimated by the observer, and then the controller exerts the corresponding control according to the lateral velocity estimated by the state observer. In order to achieve vehicle path tracking control. This not only saves the cost, but also improves the safety of the vehicle. It is these that inspire the research in this paper. The main research work of this paper is as follows: in Chapter 1, the research background and significance of intelligent vehicle are introduced, and the development status of vehicle path tracking control in recent years is reviewed. In the second chapter, the problem of vehicle path tracking under the condition of known lateral speed is studied. A polyhedron linear vehicle model with time-varying uncertain lateral deflection stiffness is established for the case of known lateral velocity and a corresponding controller is designed to realize the vehicle path tracking control. The existence condition of controller gain is given by Lyapunov (Lyapunov) method and linear matrix inequality (LM) method. Finally, the effectiveness of the proposed method is verified by simulation experiments. In the third chapter, the problem of vehicle path tracking under the condition of unknown lateral speed is studied. In the case of unknown lateral velocity, a vehicle model with unknown disturbance is established, and an extended state observer (ESO) is constructed to estimate the unknown lateral velocity and disturbance. Then an active disturbance rejection controller (ADRC) based on extended state observer is designed to realize the vehicle path tracking control. Finally, the effectiveness of the proposed extended state observer and the anti-interference ability of the active disturbance rejection controller are verified by simulation. In the fourth chapter, the work of this paper is summarized, and the future work is prospected.
【学位授予单位】：山西大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U495;U463.6
【参考文献】
相关期刊论文 前1条
1 谷东兵,宋正勋,胡豁生,布雷德·麦克;移动机器人的局部路径规划与控制[J];兵工学报;2000年01期
，本文编号：2278395
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