摘要
提出了一种充分融合驾驶员经验的、低能耗的无人驾驶车辆平行泊车操作模型。将驾驶员平行泊车经验,描述为双梯形曲线图像的方向盘转角操作模型;对模型轨迹关键点位上的3个构型参数,建立平行泊车品质评价体系,得出参数对泊车品质的影响规律;考虑车辆运动学约束以及无碰撞约束,实现双梯形操作模型的优化与校正。在一辆6.6 m的无人驾驶客车上,进行了不同算法的对比验证,并在不同变量条件下进行了适应性验证。结果表明:相比传统的五次多项式轨迹规划和比例—积分—微分控制的泊车方法,用本操作模型,省去了循迹环节,使泊车过程更加流畅,且能耗降低达44.7%。
A parallel parking operation model was proposed for driverless vehicles with fully integrated drivers'parking experience and with less parking energy consumption.The driver's parallel parking experiences were summarized and described as an operation model of the steering wheel rotation angle with double trapezoidal curve image.A parallel parking quality evaluation system was established for three configuration parameters at the key trajectory points of the model to find the influence law of the parameters about parking quality.The double trapezoidal operation model was optimized and rectified by considering the vehicle kinematic constraints and the no-collision constraints.The comparative validations were carried out under multiple algorithms with the adaptive validation under different variable situations on a 6.6 m driverless bus.The results show that the double-trapezoidal operation model has a more fluent parking process with a less energy consumption by 44.7%reducing for eliminating the tracking link,compared with the traditional parking methods of quantic-polynomial trajectory-planning and proportional integral-differential control.
作者
修国涛
谢辉
宋康
毕凤荣
XIU Guotao;XIE Hui;SONG Kang;BI Fengrong(School of Mechanical Engineering,Tianjin University,Tianjin 300072,China)
出处
《汽车安全与节能学报》
CAS
CSCD
北大核心
2023年第2期191-201,共11页
Journal of Automotive Safety and Energy
基金
天津市科技计划项目(19ZXZNGX0005)。
关键词
无人驾驶车辆
平行泊车
驾驶员经验
操作模型
方向盘转角
轨迹规划
autonomous vehicle
parallel parking
driver experience
operation model
steering wheel rotation angle
trajectory planning
