側(cè)向速度已知與未知情形下智能車輛路徑跟蹤
發(fā)布時(shí)間：2018-10-18 07:17
【摘要】：隨著汽車普及率的快速增長(zhǎng),各種各樣的交通問(wèn)題經(jīng)常發(fā)生,不僅給人們的工作和生活造成很多困擾,還導(dǎo)致了大量的人員傷亡和經(jīng)濟(jì)損失。鑒于這些交通問(wèn)題的頻繁發(fā)生,大量的研究人員開(kāi)始對(duì)智能車輛控制展開(kāi)研究。智能車輛是一種典型的高新技術(shù)綜合體,它綜合運(yùn)用了計(jì)算機(jī)學(xué)、機(jī)器人學(xué)、傳感器、控制器、信息通信等技術(shù),在很多工程領(lǐng)域都具有廣泛的應(yīng)用前景。在智能車輛控制領(lǐng)域中,路徑跟蹤控制技術(shù)是最重要的控制技術(shù)之一,是保證車輛沿期望路徑精確跟蹤和安全行駛的關(guān)鍵。車輛在進(jìn)行路徑跟蹤過(guò)程中,首要的控制目標(biāo)是側(cè)向控制。這樣就需要一個(gè)具有高性能的控制器來(lái)確保車輛在進(jìn)行路徑跟蹤時(shí)具有處理突發(fā)的緊急情況的能力。而車輛在行駛過(guò)程中,側(cè)向速度的大小是決定車輛能否按期望路線精確行駛的一個(gè)關(guān)鍵因素。當(dāng)車輛發(fā)生側(cè)偏時(shí),就需要控制器對(duì)車輛作出調(diào)節(jié)來(lái)使車輛回到安全的行駛狀態(tài)中,從而實(shí)現(xiàn)安全行駛。目前,針對(duì)車輛側(cè)向速度的控制技術(shù)已經(jīng)比較成熟,但這大多數(shù)都是在側(cè)向速度已知的情況下做出的研究。在實(shí)際情況中,側(cè)向速度的測(cè)量是需要通過(guò)傳感器來(lái)實(shí)現(xiàn)的,但這樣的傳感器成本很高,在商用汽車領(lǐng)域難以應(yīng)用。所以本文在考慮車輛側(cè)向速度未知的情況下構(gòu)造一個(gè)擴(kuò)張狀態(tài)觀測(cè)器,通過(guò)觀測(cè)器對(duì)車輛側(cè)向速度進(jìn)行估計(jì),然后控制器根據(jù)狀態(tài)觀測(cè)器所估計(jì)的側(cè)向速度施加相應(yīng)的控制,從而實(shí)現(xiàn)車輛路徑跟蹤控制。這樣既節(jié)約了成本,又提高了車輛安全性。正是這些激發(fā)了本文的研究。本文的主要研究工作如下：第一章,主要介紹智能車輛的研究背景與研究意義,回顧了近年來(lái)車輛路徑跟蹤控制發(fā)展現(xiàn)狀。第二章,主要研究在側(cè)向速度已知情形下車輛的路徑跟蹤問(wèn)題。針對(duì)車輛側(cè)向速度已知的情形,建立帶有時(shí)變不確定側(cè)偏剛度的多面體線性車輛模型,并設(shè)計(jì)相應(yīng)的控制器來(lái)實(shí)現(xiàn)車輛路徑跟蹤控制。通過(guò)李雅普諾夫(Lyapunov)方法和線性矩陣不等式(LM)方法給出控制器增益的存在條件。最后通過(guò)仿真實(shí)驗(yàn)驗(yàn)證所提方法的有效性。第三章,主要研究在側(cè)向速度未知情形下車輛的路徑跟蹤問(wèn)題。針對(duì)車輛側(cè)向速度未知的情形,建立帶有未知干擾的車輛模型,并構(gòu)造一個(gè)擴(kuò)張狀態(tài)觀測(cè)器(ESO)對(duì)未知的側(cè)向速度和干擾進(jìn)行估計(jì),然后設(shè)計(jì)一個(gè)基于擴(kuò)張狀態(tài)觀測(cè)器的自抗擾控制器(ADRC)來(lái)實(shí)現(xiàn)車輛的路徑跟蹤控制。最后通過(guò)仿真驗(yàn)證所提擴(kuò)張狀態(tài)觀測(cè)器的有效性和自抗擾控制器的抗干擾能力。第四章,總結(jié)了本文的工作,并對(duì)后續(xù)工作進(jìn)行了展望。
[Abstract]:With the rapid growth of car penetration, various traffic problems often occur, which not only cause a lot of troubles to people's work and life, but also lead to a large number of casualties and economic losses. Due to the frequent occurrence of these traffic problems, a large number of researchers began to study intelligent vehicle control. Intelligent vehicle is a kind of typical high-tech synthesis, which uses computer science, robotics, sensor, controller, information communication technology and so on. It has a wide application prospect in many engineering fields. In the field of intelligent vehicle control, the path tracking control technology is one of the most important control techniques, which is the key to ensure the accurate tracking and safe driving of the vehicle along the desired path. In the course of vehicle path tracking, the primary control target is lateral control. Therefore, a high performance controller is needed to ensure that the vehicle has the ability to deal with sudden emergencies in path tracking. The magnitude of lateral speed is a key factor to determine whether the vehicle can travel accurately according to the desired route. When the vehicle side deviates, the controller is needed to adjust the vehicle to make the vehicle return to the safe driving state, so as to realize the safe driving. At present, vehicle lateral speed control technology has been more mature, but most of these are done under the condition of known lateral speed. In practice, the measurement of lateral velocity needs to be realized by sensors, but the cost of such sensors is very high, so it is difficult to apply in the field of commercial vehicles. In this paper, an extended state observer is constructed considering the unknown lateral velocity of the vehicle, and the lateral velocity of the vehicle is estimated by the observer, and then the controller exerts the corresponding control according to the lateral velocity estimated by the state observer. In order to achieve vehicle path tracking control. This not only saves the cost, but also improves the safety of the vehicle. It is these that inspire the research in this paper. The main research work of this paper is as follows: in Chapter 1, the research background and significance of intelligent vehicle are introduced, and the development status of vehicle path tracking control in recent years is reviewed. In the second chapter, the problem of vehicle path tracking under the condition of known lateral speed is studied. A polyhedron linear vehicle model with time-varying uncertain lateral deflection stiffness is established for the case of known lateral velocity and a corresponding controller is designed to realize the vehicle path tracking control. The existence condition of controller gain is given by Lyapunov (Lyapunov) method and linear matrix inequality (LM) method. Finally, the effectiveness of the proposed method is verified by simulation experiments. In the third chapter, the problem of vehicle path tracking under the condition of unknown lateral speed is studied. In the case of unknown lateral velocity, a vehicle model with unknown disturbance is established, and an extended state observer (ESO) is constructed to estimate the unknown lateral velocity and disturbance. Then an active disturbance rejection controller (ADRC) based on extended state observer is designed to realize the vehicle path tracking control. Finally, the effectiveness of the proposed extended state observer and the anti-interference ability of the active disturbance rejection controller are verified by simulation. In the fourth chapter, the work of this paper is summarized, and the future work is prospected.
【學(xué)位授予單位】：山西大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：U495;U463.6
本文編號(hào)：2278395
[Abstract]:With the rapid growth of car penetration, various traffic problems often occur, which not only cause a lot of troubles to people's work and life, but also lead to a large number of casualties and economic losses. Due to the frequent occurrence of these traffic problems, a large number of researchers began to study intelligent vehicle control. Intelligent vehicle is a kind of typical high-tech synthesis, which uses computer science, robotics, sensor, controller, information communication technology and so on. It has a wide application prospect in many engineering fields. In the field of intelligent vehicle control, the path tracking control technology is one of the most important control techniques, which is the key to ensure the accurate tracking and safe driving of the vehicle along the desired path. In the course of vehicle path tracking, the primary control target is lateral control. Therefore, a high performance controller is needed to ensure that the vehicle has the ability to deal with sudden emergencies in path tracking. The magnitude of lateral speed is a key factor to determine whether the vehicle can travel accurately according to the desired route. When the vehicle side deviates, the controller is needed to adjust the vehicle to make the vehicle return to the safe driving state, so as to realize the safe driving. At present, vehicle lateral speed control technology has been more mature, but most of these are done under the condition of known lateral speed. In practice, the measurement of lateral velocity needs to be realized by sensors, but the cost of such sensors is very high, so it is difficult to apply in the field of commercial vehicles. In this paper, an extended state observer is constructed considering the unknown lateral velocity of the vehicle, and the lateral velocity of the vehicle is estimated by the observer, and then the controller exerts the corresponding control according to the lateral velocity estimated by the state observer. In order to achieve vehicle path tracking control. This not only saves the cost, but also improves the safety of the vehicle. It is these that inspire the research in this paper. The main research work of this paper is as follows: in Chapter 1, the research background and significance of intelligent vehicle are introduced, and the development status of vehicle path tracking control in recent years is reviewed. In the second chapter, the problem of vehicle path tracking under the condition of known lateral speed is studied. A polyhedron linear vehicle model with time-varying uncertain lateral deflection stiffness is established for the case of known lateral velocity and a corresponding controller is designed to realize the vehicle path tracking control. The existence condition of controller gain is given by Lyapunov (Lyapunov) method and linear matrix inequality (LM) method. Finally, the effectiveness of the proposed method is verified by simulation experiments. In the third chapter, the problem of vehicle path tracking under the condition of unknown lateral speed is studied. In the case of unknown lateral velocity, a vehicle model with unknown disturbance is established, and an extended state observer (ESO) is constructed to estimate the unknown lateral velocity and disturbance. Then an active disturbance rejection controller (ADRC) based on extended state observer is designed to realize the vehicle path tracking control. Finally, the effectiveness of the proposed extended state observer and the anti-interference ability of the active disturbance rejection controller are verified by simulation. In the fourth chapter, the work of this paper is summarized, and the future work is prospected.
【學(xué)位授予單位】：山西大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：U495;U463.6
【參考文獻(xiàn)】
相關(guān)期刊論文 前1條
1 谷東兵,宋正勛,胡豁生,布雷德·麥克;移動(dòng)機(jī)器人的局部路徑規(guī)劃與控制[J];兵工學(xué)報(bào);2000年01期
，本文編號(hào)：2278395
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