摘要
自动驾驶是通过应用人工智能技术让汽车具备人类驾驶员的驾驶技能,在没有人工干预的情况下能够独立完成复杂多变的驾驶任务。为促进自动驾驶技术的快速发展,确保自动驾驶安全、顺利进行,首先针对传统切线法转向控制模型存在的安全问题,设计加强型切线法速度约束模型对其加以优化,以控制自动驾驶汽车时刻保持在道路边界线内行驶,然后基于TORCS微观仿真平台,对加强型切线法与传统切线法的转向控制效果进行对比验证。结果显示,加强型切线法的自动驾驶转向控制效果明显优于传统切线法,从而使汽车自动驾驶的安全性得到显著提升。
Autopilot is the application of artificial intelligence technology to enable the car to have the driving skills of a human driver,and can independently complete complex and varied driving tasks without human intervention.In order to promote the rapid development of autonomous driving technology research,and ensure safe automatic driving done smoothly,Firstly,aiming at the safety problem of the tangential steering control model,the enhanced tangent method speed constraint model is designed to optimize it,and to control the automatic driving vehicle to constantly maintain safe driving automatically within the road boundary.Then based on the TORCS micro-simulation platform,the steering control effect in terms of safety of the enhanced tangent method and the tangent method is compared and verified.The results show that the enhanced tangential method's automatic driving steering control effect is significantly better than the tangent method,which can provide safer driving protection technology for the field of automatic driving research.
作者
王一霖
万华森
曾鹏
WANG Yi-lin;WAN Hua-sen;ZENG Peng(Faculty of Transportation Engineering, Kunming University of Science and Techno log y, Kunming 650000, China)
出处
《软件导刊》
2018年第12期29-33,共5页
Software Guide
关键词
智能交通
自动驾驶
TORCS仿真平台
转向控制方法
虚拟汽车模型
intelligent transportation
automatic driving
TORCS simulation platform
steering control method
virtual vehicle model
