摘要
为提高队列自动跟驰的横向耦合性,提出了基于车车通讯、结合前车实时航行路径的队列自动跟驰横向耦合模型。首先,利用3次均匀B-样条曲线进行均等内插和平滑化处理,建立后车目标路径;其次,利用全局探索理论设计目标路径点的探索方法;然后,通过判别后车实时位置所处的目标区间,解算后车速度矢量;最后,建立包括横向位移偏差和横向航向角偏差的后车横向偏差模型,并利用Matlab/Simulink设计试验方法和开展实车测试。结果表明,本文方法生成的目标路径与前车实时路径保持高度一致,横向位移偏差和横向航向角偏差保持一致且更加平滑和稳定。研究成果为队列自动跟驰横向控制策略的高耦合性上层输入提供理论依据和实证方法。
In order to improve the lateral coupling of automatic platooning,a lateral coupling model of automatic platooning based on vehicle to vehicle communication and real-time position of the preceding vehicle is proposed.Firstly,using the cubic uniform B-spline curve to interpolate and smooth the path of the preceding vehicle to establish the target path of the following vehicle.Secondly,the global exploration theory is used to design the exploration method of the target path point.Then,the speed vector of the following vehicle is calculated by judging the target range of the following vehicle real-time position.Finally,a lateral error model including lateral position error and lateral angle error is established.Experimental method is designed by Matlab/Simulink and the real vehicle experiments are carried out.The results show that the target path generated by the proposed method is highly consistent with the real-time path of the preceding vehicle and the lateral position error and lateral angle error are highly consistent,smoother and more stable.The research results provide a theoretical basis and empirical method for the high coupling upper input of automatic platooning lateral control strategy.
作者
高秀晶
马育林
杉町敏之
黄红武
Xiujing Gao;Yulin Ma;Sugimachi Toshiyuki;Hongwu Huang(Mechanical and Automotive Engineering,Xiamen University of Technology,Xiamen361024;Fujian Collaborative Innovation Center for R&D of Coach and Special Vehicle,Xiamen361024;Suzhou Automotive Research Institute,Tsinghua University,Suzhou215134;Department of Industrial Science,Tokyo City University,Tokyo 1588557)
出处
《汽车工程》
EI
CSCD
北大核心
2021年第12期1745-1751,1770,共8页
Automotive Engineering
基金
国家高端外国专家项目(G20200221011)
福建省自然科学基金(2020J01273)
福建省教育厅科技项目(JAT190664)
厦门市重大科技计划项目(3502Z20191019)
校攀登计划(XPDKQ19010)。
关键词
车车通讯
队列自动跟驰
横向耦合模型
横向位移偏差
横向航向角偏差
vehicle to vehicle communication
automatic platooning
lateral coupling model
lateral position error
lateral angel error
