摘要
针对紧急工况下传统智能电动汽车运动轨迹规划方法过于保守,导致复合输入下,一般循迹跟踪控制方法纵横向控制交互干扰问题。提出一种智能电动汽车多源信息感知与主动避障控制方法。首先,通过多源异构传感器和联合标定来构建智能电动汽车多源信息感知架构,通过对多源信息感知数据的预处理和优化,提高环境信息的准确性和可靠性。将电动汽车的运动分为横向和纵向控制,在横向控制方面,利用滑模控制器接收参考路径信息和车辆航向角信息,计算前轮转角进行横向自动控制。滑模控制器要满足约束条件,确保在设定区域内运行。对于纵向控制,通过车辆加速和制动执行器实现纵向位置的精确跟踪。最后,结合智能电动汽车的多源信息感知结果,并将横向和纵向控制结果有效结合,实现智能电动汽车在行驶过程中的主动避障控制。实验结果表明,所提方法具有良好的环境感知能力和主动避障控制性能,且控制延时较低,行驶可靠性较高。
The traditional intelligent electric vehicle motion trajectory planning method under emergency conditions is too conservative,resulting in the problem of interactive interference in the vertical and horizontal control of the general tracking control method under composite inputs.Propose an intelligent electric vehicle multi-source information perception and active obstacle avoidance control method.Firstly,an intelligent electric vehicle multi-source information perception architecture is constructed through multi-source heterogeneous sensors and joint calibration.By preprocessing and optimizing multi-source information perception data,the accuracy and reliability of environmental information are improved.Divide the motion of electric vehicles into horizontal and vertical control.In terms of lateral control,a sliding mode controller is used to receive reference path information and vehicle heading angle information,and calculate the front wheel angle for lateral automatic control.The sliding mode controller must meet the constraint conditions to ensure operation within the set area.For longitudinal control,precise tracking of longitudinal position is achieved through vehicle acceleration and brake actuators.Finally,by combining the multi-source information perception results of intelligent electric vehicles and effectively combining the horizontal and vertical control results,active obstacle avoidance control of intelligent electric vehicles during driving can be achieved.The experimental results show that the proposed method has good environmental perception ability and active obstacle avoidance control performance,and has low control delay and high driving reliability.
作者
韩丹
HAN Dan(School of Automotive Engineering,Shaanxi Polytechnic Institute,Xianyang 712000,China)
出处
《自动化与仪表》
2024年第12期51-55,共5页
Automation & Instrumentation
基金
陕西工业职业技术学院科研基金资助项目(2023YKZX-005)。
关键词
智能电动汽车
多源信息感知
主动避障控制
滑膜控制算法
intelligent electric vehicles
multi source information perception
active obstacle avoidance control
synovial control algorithm
