欢迎访问《汽车安全与节能学报》，
汽车安全与节能学报

汽车安全与节能学报 ›› 2023, Vol. 14 ›› Issue (3): 338-345.DOI: 10.3969/j.issn.1674-8484.2023.03.009

• 智能驾驶与智慧交通 • 上一篇    下一篇

基于轨迹预测最优侧向加速度的驾驶员模型

周星1(), 刘夫云1,*(), 唐振天2, 邓聚才2   

  1. 1.桂林电子科技大学 机电工程学院，桂林 541004，中国
    2.东风柳州汽车有限公司，柳州 544005，中国
  • 收稿日期:2022-12-19 修回日期:2023-03-16 出版日期:2023-06-30 发布日期:2023-06-30
  • 通讯作者: *刘夫云，教授。E-mail：liufuyun310@aliyun.com。
  • 作者简介:周星（1996—），男（汉族），江西，硕士研究生。E-mail: 2796410049@qq.com。
  • 基金资助:
    广西新能源物流商用车协同创新研发及成果转化应用(AA18242036);高性能摩擦离合器关键技术研究与产品开发(AA18242037)

Optimal lateral acceleration driver model based on trajectory prediction

ZHOU Xing1(), LIU Fuyun1,*(), TANG Zhentian2, DENG Jucai2   

  1. 1. School of Mechanical and Electrical Engineering, Guilin University of Electronic Technology, Guilin 541004, China
    2. Dongfeng Liuzhou Motor Co., Ltd., Liuzhou 545005, China
  • Received:2022-12-19 Revised:2023-03-16 Online:2023-06-30 Published:2023-06-30

RichHTML

6

PDF

85

摘要：

为提高智能车辆行驶的主动安全性，提出了一种基于轨迹预测最优侧向加速度的驾驶员模型。假定汽车具有恒定的横摆角速度，根据当前汽车行驶姿态，采用该模型来预测汽车的轨迹；计算汽车在预瞄时间后的侧向偏差，决策出理想的方向盘转角；在双移线道路和圆形道路上的行驶工况下，仿真分析了该模型的路径跟踪效果；通过一系列实车测试，验证了该仿真模型。结果表明：汽车以54 km/h匀速行驶时，本模型仿真结果的最大跟踪侧向偏差，不超过10 cm；实车结果的最大跟踪侧向偏差，不超过25 cm。因而，在车辆行驶时，该模型能稳定地跟踪目标路径行驶，验证了模型的准确性。

关键词: 主动安全, 智能车辆, 轨迹预测, 预瞄偏差, 最优侧向加速度, 路径跟踪, 闭环仿真, 实车测试

Abstract:

An optimal lateral acceleration driver model was proposed based on the trajectory prediction to improve the active safety of intelligent vehicles. The model was used to predict the vehicle trajectory with an assumption of the vehicle driving at a constant yaw velocity according to the current vehicle attitude; Determine the ideal steering wheel angle by calculating the lateral deviation after the preview time. The path tracking effect of the model was simulated and analyzed for the driving conditions on the double-shift roads and circular roads; The simulation model was verified by using a series of real vehicle tests. The results show that the maximum tracking lateral deviation of the simulation results is less than 10 cm with the deviation of the real vehicle tests being less than 25 cm at the constant speed of 54 km/h. Therefore, the model can stably follow the target path when the vehicle is traveling, verifying the accuracy of the model.

Key words: active safety, intelligent vehicles, trajectory prediction, look-ahead scheme, optimal lateral acceleration, path tracking, closed-loop simulation, field tests

中图分类号: