本文選題：智能車輛 + 軌跡跟蹤控制�。� 參考：《山東理工大學(xué)》2013年碩士論文

【摘要】：隨著GIS (Geographic Information System)技術(shù)的不斷發(fā)展與汽車定位精度的不斷提高,如何將高信息量的GIS地圖應(yīng)用到智能車的導(dǎo)航控制中,使得智能車的軌跡跟蹤控制能夠達(dá)到車道級(jí)別的精度要求,已經(jīng)成為了當(dāng)前智能車技術(shù)發(fā)展的又一趨勢(shì)。在這種趨勢(shì)的引導(dǎo)下,為實(shí)現(xiàn)智能車輛基于GIS地圖的車道級(jí)導(dǎo)航及軌跡跟蹤控制,本文以城市中最為常見的前輪驅(qū)動(dòng)前輪轉(zhuǎn)向的四輪轎車為研究對(duì)象,推導(dǎo)了該汽車的位姿預(yù)測(cè)模型,總結(jié)了駕駛員理想的操縱習(xí)慣,進(jìn)行了智能車基于車道級(jí)軌跡模型的軌跡跟蹤控制研究。本文的主要研究?jī)?nèi)容如下： (1)為解決控制對(duì)象的問題,利用前輪驅(qū)動(dòng)前輪轉(zhuǎn)向汽車的運(yùn)動(dòng)方程,推導(dǎo)了用于表示該汽車實(shí)際位置點(diǎn)與其前輪轉(zhuǎn)角和橫擺角的位姿預(yù)測(cè)模型,并對(duì)其計(jì)算方法進(jìn)行了簡(jiǎn)化。 (2)為使智能車的軌跡跟蹤精度能達(dá)到車道級(jí)別的要求,論文在采集和分析某城市交通環(huán)境中駕駛員的操縱行為以及汽車實(shí)際的行駛軌跡的基礎(chǔ)上,總結(jié)了駕駛員在進(jìn)行理想軌跡,尤其是理想的轉(zhuǎn)彎軌跡跟蹤時(shí)的操縱習(xí)慣。然后,論文將其轉(zhuǎn)化成為一種基于駕駛員操縱習(xí)慣的智能車?yán)硐朕D(zhuǎn)彎軌跡跟蹤控制方法,并以所推導(dǎo)的預(yù)測(cè)模型為控制對(duì)象,通過大量的仿真運(yùn)算驗(yàn)證了該控制方法的可行性。 (3)為使得汽車能夠進(jìn)行車道級(jí)別的理想軌跡模型的跟蹤,論文在所提出的基于駕駛員操縱習(xí)慣的理想轉(zhuǎn)彎軌跡跟蹤控制方法的基礎(chǔ)上,將該控制方法融入到汽車行駛工況的判定中,制定了智能車基于理想軌跡模型的軌跡跟蹤控制方法,并對(duì)該控制方法進(jìn)行了仿真計(jì)算以驗(yàn)證其控制效果。 (4)為使智能車可以實(shí)現(xiàn)最終的基于GIS地圖的軌跡跟蹤控制,論文在已繪制好的具有某城市車道級(jí)別的道路網(wǎng)GIS地圖中制作了一個(gè)汽車要跟蹤的最優(yōu)軌跡模型。然后,論文利用所提出的跡跟蹤控制方法,對(duì)該軌跡模型進(jìn)行了跟蹤計(jì)算。最后,仿真結(jié)果導(dǎo)入到所建立的地圖中進(jìn)行了控制方法可行性的驗(yàn)證。 通過上述內(nèi)容的研究,本文驗(yàn)證了論文所提出的軌跡跟蹤控制方法能夠?qū)⑵嚨臋M向位置誤差控制在0.15m以內(nèi),橫擺角誤差控制在0.001rad以內(nèi),其控制精度可有效保證汽車在已規(guī)劃好的車道內(nèi)行駛。同時(shí)還驗(yàn)證了論文所提出的智能車基于GIS地圖的軌跡跟蹤控制方法的有效性與可行性。
[Abstract]:With the continuous development of GIS Information system technology and the improvement of vehicle positioning accuracy, how to apply the high-information GIS map to the navigation control of intelligent vehicle, so that the track tracking control of intelligent vehicle can meet the precision requirement of lane level.Has become the current smart car technology development another trend.Under the guidance of this trend, in order to realize the driveway navigation and track tracking control of intelligent vehicle based on GIS map, this paper takes the four-wheeled car which is the most common front wheel driving front wheel steering in the city as the research object.The position and pose prediction model of the vehicle is derived, and the ideal handling habits of the driver are summarized, and the trajectory tracking control of the intelligent vehicle based on the drive-level trajectory model is studied.The main contents of this paper are as follows:1) in order to solve the problem of control object, using the motion equation of front wheel steering vehicle, the position and pose prediction model which is used to express the actual position point of the vehicle and its front wheel rotation angle and yaw angle is derived, and its calculation method is simplified.In order to make the track tracking precision of intelligent vehicle reach the requirement of lane level, the paper collects and analyzes the driver's handling behavior and the actual driving track of a certain city traffic environment.The maneuvering habits of the driver in the ideal trajectory, especially in the ideal turn track tracking are summarized.Then, the paper transforms it into an ideal turning trajectory tracking control method based on the driver's control habit, and takes the derived predictive model as the control object, and verifies the feasibility of the control method through a large number of simulation operations.In order to enable the vehicle to track the ideal trajectory model of lane level, this paper proposes an ideal turning trajectory tracking control method based on driver's control habits.The control method is integrated into the determination of vehicle driving condition, and the intelligent vehicle trajectory tracking control method based on ideal trajectory model is established, and the control method is simulated and calculated to verify its control effect.4) in order to realize the final trajectory tracking control based on GIS map, an optimal track model of the vehicle is made in the GIS map of the road network with a certain city lane level drawn up in this paper.Then, the track model is calculated by using the proposed tracking control method.Finally, the simulation results are imported into the established map to verify the feasibility of the control method.Through the above research, this paper verifies that the trajectory tracking control method proposed in this paper can control the lateral position error of vehicle within 0.15 m and the yaw angle error within 0.001rad.The control precision can effectively guarantee the vehicle running in the planned lane.At the same time, the effectiveness and feasibility of the trajectory tracking control method based on GIS map of intelligent vehicle proposed in this paper are verified.
【學(xué)位授予單位】：山東理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類號(hào)】：U495;P208

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 曾光清;陶佩楓;;組件式GIS(地理信息系統(tǒng))的研究[J];湖南有色金屬;2007年02期

2 李兵,何克忠,張朋飛,陳桂生;自主輪式機(jī)器人THMR-V的混合模糊邏輯控制[J];機(jī)器人;2003年06期

3 郝偉;劉萬青;;基于GIS的救護(hù)車輛最短路徑算法[J];計(jì)算機(jī)應(yīng)用;2008年S2期

4 高振海,管欣,郭孔輝;預(yù)瞄跟隨理論和駕駛員模型在汽車智能駕駛研究中的應(yīng)用[J];交通運(yùn)輸工程學(xué)報(bào);2002年02期

5 王榮本;張榮輝;金立生;郭烈;;區(qū)域交通智能車輛導(dǎo)航控制技術(shù)[J];農(nóng)業(yè)機(jī)械學(xué)報(bào);2007年07期

6 高振海,管欣,李謙,郭孔輝;駕駛員最優(yōu)預(yù)瞄縱向加速度模型[J];汽車工程;2002年05期

7 王榮本;張榮輝;金立生;郭烈;;區(qū)域智能交通車輛系統(tǒng)發(fā)展及其關(guān)鍵技術(shù)綜述[J];汽車工程;2007年03期

8 趙熙俊;陳慧巖;;智能車輛路徑跟蹤橫向控制方法的研究[J];汽車工程;2011年05期

9 陳則王,袁信;GIS在車輛定位導(dǎo)航系統(tǒng)中的應(yīng)用[J];微型電腦應(yīng)用;2002年09期

10 阮久宏,付夢(mèng)印,李貽斌,鄧志紅;基于模糊邏輯和GA的智能車輛橫向控制算法仿真研究[J];系統(tǒng)仿真學(xué)報(bào);2004年10期

相關(guān)博士學(xué)位論文 前2條

1 尹曉紅;自動(dòng)引導(dǎo)車運(yùn)動(dòng)分段控制技術(shù)研究[D];合肥工業(yè)大學(xué);2011年

2 張林;動(dòng)態(tài)車輛導(dǎo)航系統(tǒng)車道級(jí)路徑引導(dǎo)方法研究[D];吉林大學(xué);2008年

相關(guān)碩士學(xué)位論文 前10條

1 張威;基于GPS/MM組合的車輛定位技術(shù)研究[D];南京航空航天大學(xué);2004年

2 方紅根;基于GIS/GPS車輛定位導(dǎo)航系統(tǒng)的研究[D];東北林業(yè)大學(xué);2004年

3 彭尉;基于GIS/GPS/GPRS的移動(dòng)車輛監(jiān)控系統(tǒng)的設(shè)計(jì)與研究[D];大連理工大學(xué);2005年

4 盧s，

本文編號(hào)：1772718