基于新传感器排布的电磁导航式智能车循迹算法研究
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摘要
研究了电磁导航式智能车的循迹算法.提出了一种新的传感器排布方案—"倒T型",其优点在于能够对智能车的远方路况进行预判.基于该方案的控制算法表明:电动势差关于智能车的水平偏移量是单调的,能够有效地反映智能车与中心导线的偏离程度.最后,通过实验验证结果的正确性.
This paper investigates the tracking algorithm of electromagnetic navigation intelligent vehicle. A new sensor layout scheme named inverted T-type is proposed to evaluate the distant road conditions of intelligent vehicles in advance. The tracking algorithm shows that the electric potential difference is monotonous on the horizontal offset, which can effectively reflect the deviation between the intelligent vehicle and the central conductor. Finally, the simulation example illustrates the correctness of the control strategy.
This paper investigates the tracking algorithm of electromagnetic navigation intelligent vehicle. A new sensor layout scheme named inverted T-type is proposed to evaluate the distant road conditions of intelligent vehicles in advance. The tracking algorithm shows that the electric potential difference is monotonous on the horizontal offset, which can effectively reflect the deviation between the intelligent vehicle and the central conductor. Finally, the simulation example illustrates the correctness of the control strategy.
引文
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[2] Sun Zongyao,Yun Mengmeng,Li Ting.A new approach to fast global finite-time stabilization of high-order nonlinear system[J].Automatica,2017,81(6):455-463.
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[4] Bishop R.Intelligent vehicle applications worldwide[J].IEEE Intelligent Systems and Their Applications,2007,17(7):605-629.
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[7] Kato S,Tsugawa S,Tokuda K.Vehicle control algorithms for cooperative driving with automated vehicles and intervehicle communications[J].IEEE Transactions on Intelligent Transportation Systems,2002,3(3):155-161.
[8] 许德智,邓竞,颜文旭,等.智能车辆自动超车系统的数据驱动路径跟踪约束控制[J].控制理论与应用,2018,35(3):283-290.
[9] 李骏,邱少波,李红建,等.智慧城市的智能汽车[J].中国科学(信息科学),2016,46(5):551-559.
[10] 吴艳,王丽芳,李芳.基于滑模自抗扰的智能车路径跟踪控制[J].控制与决策,2018:1-8.
[11] 姜岩,龚建伟,熊光明,等.基于运动微分约束的无人车辆纵横向协同规划算法的研究[J].自动化学报,2013,39(12):2012-2020.
[12] 张琨,崔胜民,王剑锋.基于自适应RBF网络补偿的智能车辆循迹控制[J].控制与决策,2014,29(4):627-631.
[13] 付骁鑫,江永亨,黄德先,等.一种新的实时智能汽车轨迹规划方法[J].控制与决策,2015,30(10):1751-1758.
[14] Xia Yuanqing,Pu Fan,Li Shengfei,et al.Lateral path tracking control of autonomous land vehicle based on ADRC and differential flatness[J].IEEE Transactions on Industrial Electronics,2016,63(5):3091-3099.
[15] 齐永龙,文菠.一种无线车辆检测传感器的设计[J].国外电子测量技术,2014,33(1):50-53.
[16] 张艳辉,徐坤,郑春花,等.智能电动汽车信息感知技术研究进展[J].仪器仪表学报,2017,38(4):794-805.
[17] 刘源,张文斌,刘雪扬,等.电磁导航智能车检测和控制系统的研究[J].传感器与微系统,2012,31(4):63-66.
[18] 王能才.基于电磁导航的智能车信号检测与控制策略研究[D].兰州:兰州理工大学,2014.
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