基于能量函数的智能车辆路径曲率平滑方法研究

doi:10.11959/j.issn.2096-6652.202018

智能科学与技术学报 ›› 2020, Vol. 2 ›› Issue (2): 161-168.doi: 10.11959/j.issn.2096-6652.202018

基于能量函数的智能车辆路径曲率平滑方法研究

师强,杨明()

上海交通大学自动化系，上海 200240

修回日期:2020-05-06 出版日期:2020-06-20 发布日期:2020-07-14
作者简介:师强（1995– ），男，上海交通大学自动化系硕士生，主要研究方向为智能车辆的定位与控制|杨明（1975– ），男，博士，上海交通大学自动化系教授，上海交通大学智能车实验室负责人，主要研究方向为智能车辆的定位、感知、导航、控制、自主驾驶、辅助驾驶和协作驾驶
基金资助:
国家自然科学基金资助项目(61873165)

Research on path curvature smoothing method based on energy function for intelligent vehicles

Qiang SHI,Ming YANG()

Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China

Revised:2020-05-06 Online:2020-06-20 Published:2020-07-14
Supported by:
The National Natural Science Foundation of China(61873165)

摘要/Abstract

摘要：

智能车辆在预防交通事故、缓解交通拥堵、减少排放等社会功效方面具有重要意义，路径跟踪是智能车辆的重要功能之一，其被控对象是复杂的车路耦合系统。路径曲率平滑性影响路径跟踪性能，针对路径曲率的平滑优化问题，提出一种基于能量函数的曲率平滑方法。首先，构造能量函数表征路径曲率平滑性；其次，基于离散化路径描述设计迭代规则，使能量函数下降；最后，在道路边界已知的情况下增加道路边界约束。真实车辆平台的实验结果表明，基于能量函数的曲率平滑方法能够在确保路径可通过的前提下进一步提升路径跟踪的乘坐舒适度和控制精度，提升智能车辆的品质。

关键词: 智能车辆, 路径跟踪, 曲率平滑

Abstract:

Intelligent vehicles are of great significance in social efficacy such as prevention of traffic accidents,ease traffic congestion and reducing emissions.Path tracking is an important part of intelligent vehicles function,whose controlled object is a complex vehicle-road coupling system.Path curvature smoothness affects path tracking performance.A curvature smoothing method based on energy function was proposed to optimize the smoothness of path curvature.Firstly,an energy function was constructed to characterize the path curvature smoothness.Secondly,aniteration rule was designed to reduce the energy function based on discrete path description.Finally,the constraint of road boundary was considered when the road boundary was known.The experimental results of the real vehicle platform show that the energy function smoothing method can further improve the ride comfort and control accuracy of path tracking on the premise of ensuring the path feasible.The quality of intelligent vehicles is improved.

Key words: intelligent vehicles, path tracking, curvature smoothing

中图分类号:

TP301.6

师强,杨明. 基于能量函数的智能车辆路径曲率平滑方法研究[J]. 智能科学与技术学报, 2020, 2(2): 161-168.

Qiang SHI,Ming YANG. Research on path curvature smoothing method based on energy function for intelligent vehicles[J]. Chinese Journal of Intelligent Science and Technology, 2020, 2(2): 161-168.

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场景	比较项	不做平滑	3次B样条曲线平滑	能量函数平滑（本文方法）
道路场景一，车速3.5 m/s	乘坐舒适度	最低	较高	最高
	横向偏差负向最大值/m	-0.189	-0.144	-0.108
	横向偏差正向最大值/m	0.058	0.031	0.005
	横向偏差波动幅度/m	0.247	0.175	0.113
道路场景一，车速5 m/s	乘坐舒适度	最低	较高	最高
	横向偏差负向最大值/m	-0.266	-0.122	-0.152
	横向偏差正向最大值/m	0.300	0.105	0.095
	横向偏差波动幅度/m	0.566	0.227	0.247
道路场景二，车速3.5 m/s	乘坐舒适度	最低	较低	最高
	横向偏差负向最大值/m	-0.258	-0.178	-0.102
	横向偏差正向最大值/m	0.183	0.111	0.028
	横向偏差波动幅度/m	0.441	0.289	0.130
道路场景二，车速5 m/s	乘坐舒适度	最低	较低	最高
	横向偏差负向最大值/m	-0.289	-0.308	-0.078
	横向偏差正向最大值/m	0.297	0.179	0.032
	横向偏差波动幅度/m	0.586	0.487	0.110

基于能量函数的智能车辆路径曲率平滑方法研究

Research on path curvature smoothing method based on energy function for intelligent vehicles

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