基于参数时变人工势场的车道保持协调控制

doi:10.3901/JME.2018.18.105

机械工程学报 ›› 2018, Vol. 54 ›› Issue (18): 105-114.doi: 10.3901/JME.2018.18.105

基于参数时变人工势场的车道保持协调控制

王其东^1,2, 魏振亚¹, 陈无畏¹, 谈东奎¹, 谢有浩³

1. 合肥工业大学汽车与交通工程学院合肥 230009;
2. 安徽理工大学机械工程学院淮南 232001;
3. 安徽省猎豹汽车有限公司滁州 239064

收稿日期:2017-09-22 修回日期:2018-05-02 出版日期:2018-09-20 发布日期:2018-09-20
作者简介:王其东,男,1964年出生,博士,教授、博士研究生导师。主要研究方向为车辆动力学与控制。E-mail:qidongwang1964@163.com;魏振亚,男,1988年出生,博士研究生。主要研究方向为车辆动力学与控制。E-mail:18655186161@163.com

Lane Keeping Coordination Control Based on Parameter-varying Artificial Potential Field

WANG Qidong^1,2, WEI Zhenya¹, CHEN Wuwei¹, TAN Dongkui¹, XIE Youhao³

1. School of Automotive and Traffic Engineering, Hefei University of Technology, Hefei 230009;
2. School of Mechanical Engineering, Anhui University of Science & Technology, Huainan 232001;
3. Anhui Leopaard Automobile Co., Ltd., Chuzhou 239064

Received:2017-09-22 Revised:2018-05-02 Online:2018-09-20 Published:2018-09-20

摘要/Abstract

摘要： 针对传统人工势场法应用于车道保持系统时控制精度不高的问题，提出一种基于变参数道路势场的车道保持辅助控制方法。首先考虑汽车状态对车道保持控制的影响，引入汽车纵向车速和侧向车速两个变参数用于构建道路势场函数，通过势场梯度求解期望转向角。利用轨迹预测理论确定势场函数的设计参数，再建立包含变参数的路径跟踪误差变量状态方程模型，并分析闭环控制系统的稳定性。在此基础上，设计车道保持辅助转矩控制器，并考虑控制过程中的人机协调问题，以驾驶员转矩及其意图路径为输入，利用模糊规则动态地调整辅助控制权重。基于Matlab/Simulink和CarSim软件平台对所提出的控制方法进行仿真试验，其结果表明，该方法能够有效地提升车道保持控制精度，同时获得较好的人机协调性能。在CarSim/LabView硬件在环试验台架上对该方法进行试验验证，所得结论与仿真基本一致。

关键词: 参数时变系统, 车道保持辅助, 模糊规则, 人工势场, 协调控制

Abstract: Aiming at the problem that the control precision is low when the traditional artificial potential field method is applied to the lane keeping task, a new lane keeping assist control method based on parameter varying artificial potential field is proposed. Firstly, considering the effect of vehicle states on lane keeping control, two variable parameters, longitudinal velocity and lateral velocity, are used to construct the road potential function, and the desired steering angle is solved by the potential field gradient. The design parameters of the potential field function are determined by the trajectory prediction theory. Then the state equation model with respect to the path tracking error containing the variable parameters is established and the stability of the closed-loop control system is analyzed. On this basis, an assist torque controller is designed to achieve lane keeping. To take into account the human-machine coordination, the driver torque and driver intention path are used to design fuzzy rules to dynamically adjust the assist control weight. Simulation results show that the proposed method can effectively improve the lane control precision and achieve a better human-machine coordination performance. The method is also verified on the CarSim/LabView hardware-in-the-loop test bench. The conclusions are in accordance with the simulation.

Key words: artificial potential field, coordination control, fuzzy rule, lane keeping assist, parameter varying system

中图分类号:

U461

王其东, 魏振亚, 陈无畏, 谈东奎, 谢有浩. 基于参数时变人工势场的车道保持协调控制[J]. 机械工程学报, 2018, 54(18): 105-114.

WANG Qidong, WEI Zhenya, CHEN Wuwei, TAN Dongkui, XIE Youhao. Lane Keeping Coordination Control Based on Parameter-varying Artificial Potential Field[J]. Journal of Mechanical Engineering, 2018, 54(18): 105-114.

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基于参数时变人工势场的车道保持协调控制

Lane Keeping Coordination Control Based on Parameter-varying Artificial Potential Field

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