摘要
针对单点预瞄、模糊控制等轨迹跟踪算法鲁棒性低以及模型预测控制算法计算量大、参数不易确定的问题,提出基于预瞄的智能车位姿补偿轨迹跟踪算法。通过建立目标车辆的运动学模型,在轨迹跟踪建模时进行位姿补偿,降低执行机构延时;使用预瞄算法,构建智能车转向模型,求解最优方向盘转角。实车测试结果表明,所提轨迹跟踪算法通过对位姿进行实时补偿,可以进一步减小横向误差,具有实时性高,鲁棒性好的特点,能够满足智能网联汽车实际运行需要。
Aiming at the problems of low robustness of trajectory tracking algorithms such as single-point preview and fuzzy control,large amount of calculation and difficult determination of parameters of model predictive control algorithm,an intelligent vehicle position and attitude compensation trajectory tracking algorithm based on preview is proposed.The kinematic model of the target vehicle is established,and the position and attitude compensation is carried out during the track tracking modeling to reduce the actuator delay.Using preview algorithm,the steering model of intelligent vehicle is built to solve the optimal steering wheel angle.The experimental results show that the proposed trajectory tracking algorithm can further reduce the lateral error by real-time compensation of the pose.It has the characteristics of high real-time performance and good robustness,and can meet the actual operation needs of the intelligent connected vehicle.
作者
王军雷
李健明
吴学易
Wang Junlei;Li Jianming;Wu Xueyi(China Automotive Technology&Research Center Co.Ltd,Tianjin 300300)
出处
《汽车实用技术》
2020年第21期40-45,共6页
Automobile Applied Technology
关键词
轨迹跟踪
两点预瞄
位姿预测
位姿补偿
最优转向角
智能网联汽车
Trajectory tracking
Two-point preview
Pose prediction
Pose compensation
Optimum steering angle
Intelligent connected vehicle
