基于能量函数的智能车辆路径曲率平滑方法研究

Research on path curvature smoothing method based on energy function for intelligent vehicles

智能车辆在预防交通事故、缓解交通拥堵、减少排放等社会功效方面具有重要意义,路径跟踪是智能车辆的重要功能之一,其被控对象是复杂的车路耦合系统。路径曲率平滑性影响路径跟踪性能,针对路径曲率的平滑优化问题,提出一种基于能量函数的曲率平滑方法。首先,构造能量函数表征路径曲率平滑性;其次,基于离散化路径描述设计迭代规则,使能量函数下降;最后,在道路边界已知的情况下增加道路边界约束。真实车辆平台的实验结果表明,基于能量函数的曲率平滑方法能够在确保路径可通过的前提下进一步提升路径跟踪的乘坐舒适度和控制精度,提升智能车辆的品质。

Intelligent vehicles are of great significance in social efficacy such as prevention of traffic accidents,ease traffic congestion and reducing emissions.Path tracking is an important part of intelligent vehicles function,whose controlled object is a complex vehicle-road coupling system.Path curvature smoothness affects path tracking performance.A curvature smoothing method based on energy function was proposed to optimize the smoothness of path curvature.Firstly,an energy function was constructed to characterize the path curvature smoothness.Secondly,aniteration rule was designed to reduce the energy function based on discrete path description.Finally,the constraint of road boundary was considered when the road boundary was known.The experimental results of the real vehicle platform show that the energy function smoothing method can further improve the ride comfort and control accuracy of path tracking on the premise of ensuring the path feasible.The quality of intelligent vehicles is improved.