基于反馈纯跟踪的智能车路径跟随方法

Path Following Method of Intelligent Vehicles Based on Feedback Pure Tracking Method

为提高智能车在不同速度和载荷下的路径跟随精度和稳定性,提出一种基于反馈纯跟踪的智能车路径跟随方法。首先,基于车辆运动学模型和纯跟踪模型分析影响控制效果的因素;然后根据车辆速度和路径曲率动态调整前视距离,将横向偏差作为反馈变量对传统纯跟踪控制方法进行补偿;接着通过仿真试验选定控制参数,分析控制参数对路径跟随精度和车辆稳定性的影响;最后通过实车试验,验证该方法在实车环境中的控制性能。结果表明,该方法具有较高的路径跟随精度,在不同速度和载荷下保持良好的适应性和稳定性。

In order to improve the path following accuracy and stability of intelligent vehicles under different speeds and loads,a path following method of intelligent vehicles based on feedback pure tracking is proposed.Firstly,the factors affecting the control effect are analyzed based on the vehicle kinematic model and pure tracking model.Secondly,the forward-looking distance is adjusted dynamically according to the vehicle speed and path curvature,and the lateral error is used as feedback variable to compensate the traditional pure tracking control method.Then,the control parameters are determined through simulation tests,and the influence of the parameters on accuracy and vehicle stability of the path following is analyzed.Finally,a real vehicle test is conducted to verify the control performance of the method in real vehicle environment.The results show that the method has higher path-following accuracy and maintains good adaptability and stability under different speeds and loads.