无人车稳定性DP优化协调控制方法仿真

Simulation of DP Optimal Coordinated Control Method for Unmanned Vehicle Stability

为了提高无人车驾驶的稳定性,提出基于DP优化的无人车稳定性协调控制方法。设计无人车动力学模型,确保无人车自身稳定性的同时,实现车辆行驶过程路径的快速与高精度跟踪。利用五次多项式方程描述无人车的换道轨迹曲线,建立换道约束条件,在满足约束条件的前提下,获得最优换道路线。采用DP优化算法解决车辆行驶过程中频繁换挡的问题,实现无人车稳定性协调控制,提高无人车行驶过程中的稳定性和安全性。实验结果表明,所提方法可以提高无人车路径跟踪精度,保证车辆驾驶的稳定性和安全性。

In order to improve the driving stability of unmanned vehicle,this paper presented a coordinated control method for unmanned vehicle stability based on DP optimization.Firstly,a dynamic model was designed to achieve fast and high-precision tracking for the driving path while ensuring the stability of unmanned vehicle.Then,a fifth-degree polynomial equation was used to describe the lane-changing trajectory curve and establish the lane changing constraints.On the premise of meeting the constraints,the best alternative lane was obtained.Moreover,DP optimization algorithm was adopted to solve the problem of frequent shifting during vehicle driving,thus achieving the coordinated control of unmanned vehicle.Finally,the stability and safety of unmanned vehicle was improved.Experimental results show that the proposed method can improve the path tracking accuracy of unmanned vehicle and ensure the stability and safety of vehicle driving.