起伏道路条件下无人车纵向速度控制方法研究

doi:10.16097/j.cnki.1009-6744.2024.03.005

交通运输系统工程与信息 ›› 2024, Vol. 24 ›› Issue (3): 43-52.DOI: 10.16097/j.cnki.1009-6744.2024.03.005

起伏道路条件下无人车纵向速度控制方法研究

李建市，徐友春^* ，齐尧，谢德胜，李华

陆军军事交通学院，军事交通运输研究所，天津 300161

收稿日期:2024-02-01 修回日期:2024-02-29 接受日期:2024-03-15 出版日期:2024-06-25 发布日期:2024-06-23
作者简介:李建市(1988- )，男，河南济源人，博士生
基金资助:
无

Longitudinal Speed Control Method of Unmanned Vehicle Under Undulating Road Conditions

LI Jianshi, XU Youchun^*, QI Yao, XIE Desheng, LI Hua

Institute of Military Transportation, Army Military Transportation University, Tianjin 300161, China

Received:2024-02-01 Revised:2024-02-29 Accepted:2024-03-15 Online:2024-06-25 Published:2024-06-23
Supported by:
无

摘要/Abstract

摘要： 为提升无人车在起伏道路条件下速度控制的准确性，本文提出一种对目标轨迹上的道路坡度进行预瞄检测的方法。首先，通过实验测定车辆速度控制系统响应延迟参数，确定预瞄时间；然后，以直径为车辆宽度的圆存储激光雷达点云，根据预瞄时间、车辆速度、激光雷达的检测盲区和目标轨迹的长度确定存储点云圆的数量和圆心坐标；随后，根据圆心与车辆前轴中心的欧式距离和预瞄时间以及车速对存储点云的圆进行动态更新和提取，采用三角函数法计算预瞄区域内的路面相对于车身姿态的坡度；最后，与惯性导航系统提供的车身俯仰角叠加得到预瞄区域内路面的绝对坡度。实验结果表明，本文提出的道路坡度预瞄检测方法能够提升无人车在起伏道路条件下速度控制的准确性。就无人车在上坡过程中最低速度分析，与忽略道路坡度的控制方法和采用惯导提供的俯仰角作为道路坡度的方法相比，在通过4°坡道时，速度控制的准确率分别提升了5.9%和2.5%，在通过16°坡道时，速度控制的准确率分别提升了85%和17.5%。

关键词: 智能交通, 速度控制准确性, 坡度预瞄检测, 无人车, 起伏道路

Abstract: To improve the accuracy of the speed control of unmanned vehicles under undulating road conditions, a method for preview detection of road slopes on the target trajectory was proposed. Firstly, the response delay parameters of the vehicle speed control system were measured by experiments to determine the preview time. The lidar point cloud was stored in a circle with the diameter of the vehicle width, and the number of circles and the center coordinates of the stored point cloud were determined according to the preview time, the vehicle speed, the detection blind area of the lidar, and the length of the target trajectory. According to the Euclidean distance between the center of the circle and the center of the front axle of the vehicle, the preview time, and the vehicle speed, the circles of the stored point cloud are dynamically updated and extracted, and the slope of the road surface in the preview area relative to the vehicle attitude is calculated by the trigonometric function method. Finally, the absolute slope of the road surface in the preview area is obtained by superimposing the pitch angle of the vehicle provided by the inertial navigation system. Experimental results show that the proposed road slope preview detection method can improve the accuracy of the speed control of unmanned vehicles under undulating road conditions. According to the analysis of the minimum speed of unmanned vehicles in the process of going uphill, compared with the control method that ignores the road slope and uses the pitch angle provided by inertial navigation as the road slope, the accuracy of speed control is increased by 5.9% and 2.5% respectively when passing through a 4° ramp, and the accuracy of speed control is increased by 85% and 17.5% when passing a 16° ramp, respectively.

Key words: intelligent transportation, speed control accuracy, slope preview detection, unmanned vehicles, undulating roads

中图分类号:

U471.15

李建市, 徐友春, 齐尧, 谢德胜, 李华. 起伏道路条件下无人车纵向速度控制方法研究[J]. 交通运输系统工程与信息, 2024, 24(3): 43-52.

LI Jianshi, XU Youchun, QI Yao, XIE Desheng, LI Hua. Longitudinal Speed Control Method of Unmanned Vehicle Under Undulating Road Conditions[J]. Journal of Transportation Systems Engineering and Information Technology, 2024, 24(3): 43-52.

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链接本文: http://www.tseit.org.cn/CN/10.16097/j.cnki.1009-6744.2024.03.005

http://www.tseit.org.cn/CN/Y2024/V24/I3/43

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起伏道路条件下无人车纵向速度控制方法研究

Longitudinal Speed Control Method of Unmanned Vehicle Under Undulating Road Conditions

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