To resolve the path tracking problem of autonomous ground vehicles,an analysis of existing path tracking methods was carried out and an important conclusion was got.The vehicle-road model is crucial for path following...To resolve the path tracking problem of autonomous ground vehicles,an analysis of existing path tracking methods was carried out and an important conclusion was got.The vehicle-road model is crucial for path following.Based on the conclusion,a new vehicle-road model named "ribbon model" was constructed with consideration of road width and vehicle geometry structure.A new vehicle-road evaluation algorithm was proposed based on this model,and a new path tracking controller including a steering controller and a speed controller was designed.The difficulties of preview distance selection and parameters tuning with speed in the pure following controller are avoided in this controller.To verify the performance of the novel method,simulation and real vehicle experiments were carried out.Experimental results show that the path tracking controller can keep the vehicle in the road running as fast as possible,so it can adjust the control strategy,such as safety,amenity,and rapidity criteria autonomously according to the road situation.This is important for the controller to adapt to different kinds of environments,and can improve the performance of autonomous ground vehicles significantly.展开更多
A method of ascertaining grade length limitation of freeways in mountain terrain is presented. The relationship models between 15 th percentile speeds and grades were built through the surveys and analyses of operatio...A method of ascertaining grade length limitation of freeways in mountain terrain is presented. The relationship models between 15 th percentile speeds and grades were built through the surveys and analyses of operation speeds on 7 typical sections of 3 freeways in mountain terrain. Using 15 thpercentile and 85 th percentile as speed limitations, the methods of determining admitted velocities were put forward according to the grades. Deceleration distances of longitudinal slopeways were analyzed utilizing the theories of vehicle. According to the results of analysis, grade length limitation was loosed. Finally the values of grade length limitation for freeways were put forward. The results could be used as references for freeway design.展开更多
基金Project(90820302)supported by the National Natural Science Foundation of China
文摘To resolve the path tracking problem of autonomous ground vehicles,an analysis of existing path tracking methods was carried out and an important conclusion was got.The vehicle-road model is crucial for path following.Based on the conclusion,a new vehicle-road model named "ribbon model" was constructed with consideration of road width and vehicle geometry structure.A new vehicle-road evaluation algorithm was proposed based on this model,and a new path tracking controller including a steering controller and a speed controller was designed.The difficulties of preview distance selection and parameters tuning with speed in the pure following controller are avoided in this controller.To verify the performance of the novel method,simulation and real vehicle experiments were carried out.Experimental results show that the path tracking controller can keep the vehicle in the road running as fast as possible,so it can adjust the control strategy,such as safety,amenity,and rapidity criteria autonomously according to the road situation.This is important for the controller to adapt to different kinds of environments,and can improve the performance of autonomous ground vehicles significantly.
基金Sponsored by the Specialized Research Fund for the Doctoral Program of High Education(Grant No.20030213030)
文摘A method of ascertaining grade length limitation of freeways in mountain terrain is presented. The relationship models between 15 th percentile speeds and grades were built through the surveys and analyses of operation speeds on 7 typical sections of 3 freeways in mountain terrain. Using 15 thpercentile and 85 th percentile as speed limitations, the methods of determining admitted velocities were put forward according to the grades. Deceleration distances of longitudinal slopeways were analyzed utilizing the theories of vehicle. According to the results of analysis, grade length limitation was loosed. Finally the values of grade length limitation for freeways were put forward. The results could be used as references for freeway design.
