摘要
为了解决智能汽车在复杂交通路况下的自动换道控制问题。研究基于轨迹跟踪控制器提出一种智能化车辆换道控制技术,其中研究结合速度与路径的解耦方法,采用B样条法和动态规划策略。同时研究结合线性二次调节器与比例-积分控制实现车辆换道控制。实验结果表明,在换道曲线测试中,研究换道曲线模型规划路径最短,为51.25 m。同时,在换道跟踪测试中,研究控制器最大横向位移误差最低,如2.7 s与10 s分别为0.877 m与-0.087 m。此外,在50 km/h、70 km/h、90 km/h测试中,研究控制器综合表现最好,可见,研究所提出技术具有良好的稳定性与控制精度。研究技术将为智能汽车智能导航与换道规划提供技术支持。
In order to solve the problem of automatic lane change control for intelligent vehicles in complex traffic conditions.A research proposes an intelligent vehicle lane changing control technology based on trajectory tracking controller,in which a decoupling method combining speed and path is studied,and B-spline method and dynamic programming strategy are adopted.Simultaneously studying the combination of linear quadratic regulator and proportional integral control to achieve vehicle lane changing control.The experimental results show that in the lane changing curve test,the shortest path planned by the lane changing curve model is 51.25 m.Meanwhile,in the lane changing tracking test,the maximum lateral displacement error of the controller was found to be the lowest,with values of 0.877 m and-0.087 m at 2.7 s and 10 s,respectively.In addition,in the 50 km/h,70 km/h,and 90 km/h tests,the comprehensive performance of the controller was the best,indicating that the proposed technology has good stability and control accuracy.The research technology will provide technical support for intelligent navigation and lane changing planning of smart cars.
作者
李培东
LI Peidong(YanglingVocational&TechnicalCollege,Yangling,Shaanxi 712100,China)
出处
《自动化与仪器仪表》
2025年第7期93-96,102,共5页
Automation & Instrumentation
基金
杨凌职业技术学院2022年院内科研基金《基于超声波定位的跟随式山地果园搬运车设计与研究》(ZK22-34)。
关键词
轨迹跟踪
B样条法
动态规划
LQR
PID
trajectory tracking
B-spline method
dynamic programming
LQR
PID
