基于分段最优控制的港口自动驾驶液压转向控制算法研究

Research on Hydraulic Steering Control Algorithm of Port Automatic Driving Based on Segmental Optimal Control

为提高港口场景自动驾驶车辆横向控制准确性,基于液压转向系统电磁阀的响应特性,提出了具有分段最优控制的转角闭环控制算法,实现了车辆单轴、双轴、蟹行转向功能,通过实车验证对设计的控制算法进行了功能和性能验证。结果表明,所提出的控制算法能够实现对液压转向系统转角信号快速、稳定跟踪,能够支撑港口自动驾驶车辆横向控制功能。

To improve the lateral control accuracy of autonomous vehicles in port scenarios,a closed-loop control algorithm with segmented optimal control is proposed,based on the response characteristics of solenoid valve of hydraulic steering system.The function of single axle steering,double axle steering and crab steering is realized.Moreover,the function and performance of the designed control algorithm have been verified by vehicle validation.The results show that the proposed control algorithm can realize fast and stable tracking of the hydraulic steering signal,and can support the lateral control function of the port autonomous vehicle.