一种全要素自主车队协同控制仿真系统

doi:10.12382/bgxb.2023.0849

摘要/Abstract

摘要：

自主车队有广泛的应用前景,模拟仿真是高效、安全研究自主车队协同控制技术的一种重要技术手段。针对自主车队协同控制仿真系统需求,提出一种构成要素全面的自主车队协同控制仿真系统方案,描述了系统主要软件的基本结构和功能。以基于领航-跟随模式的三车编队机动任务为应用实例,设计了车辆跟踪控制和多车协同机动控制策略,利用自主车队协同控制仿真系统验证了其有效性,说明所提出自主车队协同仿真系统的可用性。总结了所提出自主车队协同仿真系统的优点以及未来研究方向。

关键词: 自主车队, 协同控制, 仿真系统, 领航-跟随

Abstract:

Autonomous convoy has the potential to be widely used in many fields, and simulation is an effective and safe method to research the cooperative control technology of autonomous convoy. An autonomous convoy simulation system solution is presented by analyzing the requirements for the autonomous convoy, and the basic structure and function of the main software are described. The following control and multiple vehicle cooperative control strategies are designed and validated for a leader-follower style three-vehicles maneuver mission, and the usuability of the proposed simulation system is demonstrated. At last, the advantages of the simulation system and its research directions are summarized.

Key words: autonomous convoy, cooperative control, simulation system, leader-follower

中图分类号:

TP242.6

苏治宝, 项燊, 余雪玮, 安旭阳. 一种全要素自主车队协同控制仿真系统[J]. 兵工学报, 2023, 44(S2): 35-43.

SU Zhibao, XIANG Shen, YU Xuewei, AN Xuyang. A Simulation System for Cooperative Control of Autonomous Convoy[J]. Acta Armamentarii, 2023, 44(S2): 35-43.

图/表 11

图1 自主车队协同控制仿真系统组成

Fig.1 Components of autonomous convoy simulation system

图2 自主驾驶软件组成

Fig.2 Components of autonomous driving software

图3 车队管理软件组成

Fig.3 Components of convoy management software

图4 混合式体系结构与信息流拓扑

Fig.4 Hybrid architecture and information flow topology

图5 编队误差定义示意图

Fig.5 Definition of formation error

图6 局部路径规划示意图

Fig.6 Local path planning

图7 车辆速度-时间示意图

Fig.7 Vehicle velocity-time figure

图8 结构化道路场景

Fig.8 Structural road scenario

图9 kf=0时的车辆行驶轨迹与编队误差

Fig.9 Travled trajectories and formation error for kf=0

图10 kf=0.05时的车辆行驶轨迹与编队误差

Fig.10 Travled trajectories and formation error for kf=0.05

图11 kf=0.2时的车辆行驶轨迹与编队误差

Fig.11 Travled trajectories and formation error for kf=0.2

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