基于正弦函数的自动驾驶电动汽车换道控制系统设计

Design of Lane Change Control System for Autonomous Electric Vehicle Based on Sine Function

由于交通道路环境具有不确定性,为实现对换道行为的有效控制,对基于正弦函数的自动驾驶电动汽车换道控制系统进行了研究;利用正弦型三相逆变控制电源输入的电力信号,驱动换道模拟平台与换道信息通信编码器,完成自动驾驶电动汽车换道控制系统的各级应用部件设计;筛选出关键的换道片段,在此基础上,提取始末换道位置,构建车道中心线势场,定义具体的换道轨迹簇,生成控制所需的电动汽车换道轨迹簇;根据安全换道车距的正弦函数计算结果,搭建反馈控制器闭环,并利用该模型实施对换道轨迹的控制与规划,实现基于正弦函数的汽车换道行为控制,联合各级应用结构,完成自动驾驶电动汽车换道控制系统的设计;实验结果表明,上述系统不会因不及时换道导致自动驾驶电动汽车的行车碰撞问题,且能够准确识别道路中的障碍物,提升行车安全;该系统的设计和实现为自动驾驶电动汽车的发展和应用提供了有益的参考和启示。

Due to the uncertainty of traffic road environments,in order to effectively control lane changing behaviors,a lane changing control system for autonomous electric vehicles based on a sine function is studied.The power signal input from the sinusoidal three-phase inverter control power supply is used to drive the simulation platform and information communication encoder of the lane changes,and design the application components of the lane changing control system for an autonomous driving electric vehicle at all levels.The key lane changing segments are selected to extract the starting and ending lane changing positions,construct the potential field of the lane centerline,define the specific lane changing trajectory clusters,and generate the electric vehicle lane changing trajectory clusters required by the control.Acoording to the calculation results of safety lane changing distance based on the sine function,the feedback controller closed-loop is constructed,and the model is used to control and plan the lane changing trajectories,achieve the vehicle lane changing behavior control based on the sine function.The various application structures are combined to complete the design of the autonomous driving electric vehicle lane changing control system.The experimental results show that the above system does not cause collisions in autonomous electric vehicles due to delayed lane changing,and can accurately identify the obstacles on the road,improving driving safety.The design and implementation of this system provide useful reference and inspiration for the development and application of autonomous electric vehicles.