基于运动仿真的汽车行驶轨迹自动规划控制

Automatic planning control of vehicle driving track based on dynamic simulation

为了解决传统控制方法误差高的问题,提出基于运动仿真的汽车行驶轨迹自动规划控制方法,利用运动仿真的方式规划汽车的行驶轨迹,并以轨迹规划结果为基础实现行驶过程的自动控制。模拟汽车的行驶状态,从运动学和动力学两个方面,构建汽车运动行驶的仿真数学模型。基于构建的数学模型,遵循避障安全原则规划行驶的轨迹路线。在仿真车辆上设计并安装控制器,通过控制器计算规划轨迹与实际轨迹的偏差,获取控制量,从而实现对汽车行驶轨迹的自动规划控制。实验结果表明,与传统的控制方法相比,设计方法可以有效降低汽车行驶轨迹规划的误差。

In order to solve the problem of high error in traditional control methods,an automatic planning control method of vehicle driving trajectory based on motion simulation is proposed,which uses the way of motion simulation to plan the vehicle driving trajectory,and realizes the automatic control of driving process based on the result of trajectory planning.In order to simulate the driving state of the automobile,the simulation mathematical model of the automobile moving driving is constructed from the aspects of kinematics and dynamics.Based on the mathematical model,following the principle of obstacle avoidance safety,the route of driving is planned.The controller is designed and installed on the simulation vehicle.The deviation between the planned trajectory and the actual trajectory is calculated by the controller,and the control amount is obtained,so as to realize the automatic planning control of the vehicle driving trajectory.The experimental results show that the design method can effectively reduce the error of vehicle trajectory planning compared with the traditional control method.