基于双层驾驶员模型的履带车辆纵向与横向协同跟踪控制方法

doi:10.3969/j.issn.1000-1093.2018.09.002

兵工学报 ›› 2018, Vol. 39 ›› Issue (9): 1675-1682.doi: 10.3969/j.issn.1000-1093.2018.09.002

基于双层驾驶员模型的履带车辆纵向与横向协同跟踪控制方法

王博洋¹，龚建伟¹，高天云^1，2，张瑞增¹，陈慧岩¹，席军强¹

（1.北京理工大学机械与车辆学院，北京 100081； 2.中国北方车辆研究所兵器地面无人平台研发中心，北京 100072）

收稿日期:2017-12-15 修回日期:2017-12-15 上线日期:2018-10-25
通讯作者: 陈慧岩（1961—），男，教授，博士生导师 E-mail:chen_h_y@263.net
作者简介:王博洋（1991—），男，博士研究生。E-mail：wbythink@163.com
基金资助:
武器装备预先研究项目（ZLY2015315）

Longitudinal and Lateral Path Following Coordinated Control Method of Tracked Vehicle Based on Double-layer Driver Model

WANG Bo-yang¹， GONG Jian-wei¹， GAO Tian-yun^1,2， ZHANG Rui-zeng¹, CHEN Hui-yan¹， XI Jun-qiang¹

（1.School of Mechanical Engineering， Beijing Institute of Technology， Beijing 100081， China; 2.NORINCO Unmanned Vehicle Research & Development Center, China North Vehicle Research Institute, Beijing 100072, China）

Received:2017-12-15 Revised:2017-12-15 Online:2018-10-25

摘要/Abstract

摘要： 为解决基于离合器转向机速差转向履带车辆的路径跟踪控制问题，采用一种基于双层驾驶员模型的纵向与横向协同跟踪控制方法，以实现对期望路径的跟踪控制。第1层驾驶员模型以高斯混合隐马尔可夫模型为基础，以期望跟踪轨迹为输入，实现对转向模式序列的预测输出及切换控制，其中转向模式包括直驶模式、行进间转向模式与原地转向模式；第2层驾驶员模型以模糊逻辑来表征行进间转向模式下经验驾驶员纵向与横向控制配合规律，并最终依据期望航向校正偏差生成纵向、横向控制量。试验结果表明，上述控制算法能够有效地利用驾驶员的先验经验，解决车辆纵向与横向强耦合特性及转向不确定性给跟踪控制系统带来的挑战，最终实现车辆在特定场景下轨迹跟踪误差小于1.0 m的路径跟踪控制。

关键词: 履带车辆, 路径跟踪, 驾驶员模型, 纵向与横向协同控制

Abstract: A longitudinal and lateral joint path following coordinated control method based on double-layer driver model is proposed to solve the path following control problem of tracked vehicle with clutch and brake steering structure. The first layer of driver model is based on the Gaussian mixture model and hidden Markov model. The desired path is taken as an input. The aim is to predict the steering mode sequences and switch the control mode according to the sequences. The second layer of driver model is established by using the fuzzy logic to reflect the skilled driver’s longitudinal and lateral operation experience. The longitudinal and lateral control commands are calculated according to the desired deviation of course. The results show that the driving experience can be utilized effectively to settle a challenge due to longitudinal and lateral combined vehicle dynamic characteristic and steering uncertainty in the proposed control method. The lateral control accuracy is less than 1.0 m under the particular scenario.Key

Key words: trackedvehicle, pathfollowingcontrol, drivermodel, longitudinalandlateralcoordinatedcontrol

中图分类号:

TJ810.3⁺42

王博洋，龚建伟，高天云，张瑞增，陈慧岩，席军强. 基于双层驾驶员模型的履带车辆纵向与横向协同跟踪控制方法[J]. 兵工学报, 2018, 39(9): 1675-1682.

WANG Bo-yang， GONG Jian-wei， GAO Tian-yun， ZHANG Rui-zeng, CHEN Hui-yan， XI Jun-qiang. Longitudinal and Lateral Path Following Coordinated Control Method of Tracked Vehicle Based on Double-layer Driver Model[J]. Acta Armamentarii, 2018, 39(9): 1675-1682.

参考文献

［1］ Schnelle S, Wang J M, Su H J, et al. A driver steering model with personalized desired path generation [J]. IEEE Transactions on Systems, Man, and Cybernetics: System, 2017, 47(1): 111-120.
[2］ Rasekhipour Y, Khajepour A, Chen S K, et al. A potential field-based model predictive path-planning controller for autonomous road vehicles [J]. IEEE Transactions on Intelligent Transportation Systems, 2017, 18(5): 1255-1267.
[3］ Kang J, Kim W, Lee J, et al. Skid steering-based control of a robotic vehicle with six in-wheel drives[J]. Proceedings of the Institution of Mechanical Engineers, Part D:Journal of Automobile Engineering, 2010, 224(D11): 1369-1391.
[4］ Qu T, Chen H, Cao D P, et al. Switching-based stochastic model predictive control approach for modeling driver steering skill[J]. IEEE Transactions on Intelligent Transportation Systems, 2015, 16(1): 365-375.
[5］ Ostafew C J, Schoellig A P, Barfoot T D, et al. Learning-based nonlinear model predictive control to improve vision-based mobile robot path tracking[J]. Journal of Field Robotics, 2016, 33(1):133-152.
[6］丁海涛,郭孔辉,李飞,等. 基于加速度反馈的任意道路和车速跟随控制驾驶员模型[J].机械工程学报, 2010, 46(10): 116-120, 125.
DING Hai-tao, GUO Kong-hui, LI Fei, et al. Arbitrary path and speed following driver model based on vehicle acceleration feedback[J]. Journal of Mechanical Engineering, 2010,46(10): 116-120, 125. (in Chinese)
[7］李红志,李亮,宋健,等.预瞄时间自适应的最优预瞄驾驶员模型[J].机械工程学报, 2010, 46(20): 106-111.
LI Hong-zhi, LI Liang, SONG Jian, et al. Optimal preview control driver model with adaptive preview time[J]. Journal of Mechanical Engineering, 2010, 46(20): 106-111. (in Chinese)
[8］ Cutler M, Walsh T J, How J P. Real-world reinforcement learning via multifidelity simulators[J]. IEEE Transactions on Robotics, 2015, 31(3): 655-671.
[9］郭景华,胡平,李琳辉,等.基于遗传优化的无人车横向模糊控制[J].机械工程学报, 2012, 48(6): 76-82.
GUO Jing-hua, HU Ping, LI Lin-hui, et al. Study on lateral fuzzy control of unmanned vehicles via genetic algorithms[J]. Journal of Mechanical Engineering, 2012, 48(6): 76-82.(in Chinese)
[10］ Lefevre S, Gao Y, Vasquez D, et al. Lane keeping assistance with learning-based driver model and model predictive control[C]∥12th International Symposium on Advanced Vehicle Control. Tokyo, Japan：AVEC,2014: 01104458.
[11］熊光明, 鲁浩, 郭孔辉, 等. 基于滑动参数实时估计的履带车辆运行轨迹预测方法研究[J]. 兵工学报, 2017, 38(3): 600-607.
XIONG Guang-ming,LU Hao, GUO Kong-hui, et al. Research on trajectory prediction of tracked vehicles based on real time slip estimation[J]. Acta Armamentarii, 2017, 38(3): 600-607. (in Chinese)
[12］王钦龙,王红岩,芮强. 基于多目标遗传算法的高速履带车辆动力学模型参数修正研究[J].兵工学报,2016,37(6): 969-978.
WANG Qin-long, WANG Hong-yan, RUI Qiang. Research on parameter updating of high mobility tracked vehicle dynamic model based on multi-objective genetic algorithm[J]. Acta Armamentarii, 2016, 37(6): 969-978. (in Chinese)
[13］王博洋，龚建伟，高天云,等. 基于高斯混合-隐马尔可夫模型的速差转向履带车辆横向控制驾驶员模型[J]. 兵工学报, 2017, 38(12): 2301-2308.
WANG Bo-yang, GONG Jian-wei, GAO Tian-yun, et al. Steering control driver model of skid steering vehicle based on Gaussian mixture model-hidden Markov model[J]. Acta Armamentarii, 2017, 38(12): 2301-2308. (in Chinese)
[14］ Thrun S, Montemerlo M, Dahlkamp H, et al. Stanley: the robot that won the DARPA grand challenge[J]. Journal of Field Robotics, 2006, 23(9): 661-692.
[15］ Wang Q, Wieghardt C S, Jiang Y, et al. Generalized path corridor-based local path planning for nonholonomic mobile robot[C]∥Proceedings of the 18th International Conference on Intelligent Transportation Systems. Las Palmas, Spain: IEEE, 2015: 1922-1927.

第39卷
第9期2018 年9月兵工学报ACTA
ARMAMENTARIIVol.39No.9Sep.2018

[1]	张伟，刘辉，韩立金，刘宝帅，张勋，张万年. 混合动力履带车辆机电联合制动控制[J]. 兵工学报, 2022, 43(5): 969-981.
[2]	王博洋, 关海杰, 龚建伟, 陈慧岩, 赵卉菁. 面向异构履带车辆的统一运动规划方法[J]. 兵工学报, 2022, 43(2): 241-251.
[3]	徐保荣, 王涛, 梁梓. 基于操纵动作预测的履带车辆载荷谱编制方法与流程[J]. 兵工学报, 2022, 43(2): 252-259.
[4]	杜明刚，张金乐，张喜明，孙亚东，毛飞鸿. 履带装甲车辆空气阻力系数试验测定[J]. 兵工学报, 2021, 42(7): 1564-1568.
[5]	李睿，项昌乐，王超，范晶晶，刘春林. 自动驾驶履带车辆鲁棒自适应轨迹跟踪控制方法[J]. 兵工学报, 2021, 42(6): 1128-1137.
[6]	张杰，马晓军，刘春光，袁东，张运银. 双侧独立电驱动履带车辆反馈线性化解耦与预测行驶控制[J]. 兵工学报, 2021, 42(4): 697-705.
[7]	李春明, 吴维, 郭智蔷, 苑士华, 陈思. 履带车辆纵向与垂向耦合动力学模型及功率特性[J]. 兵工学报, 2021, 42(3): 449-458.
[8]	赵屹东, 陈慧岩, 胡家铭. 双侧独立电驱动履带车辆自动机械变速器线控换挡控制方法[J]. 兵工学报, 2021, 42(3): 459-467.
[9]	盖江涛，刘春生，马长军，沈宏继. 考虑履带滑转滑移的电驱动履带车辆转向控制[J]. 兵工学报, 2021, 42(10): 2092-2101.
[10]	邹渊，张彬，张旭东，赵志颖，康铁宇，郭玉枫，吴喆. 基于归一化优势函数的强化学习混合动力履带车辆能量管理[J]. 兵工学报, 2021, 42(10): 2159-2169.
[11]	马田，王志涛，张欣，庞大千，高晓宇. 履带车辆电传动系统减速机构热特性[J]. 兵工学报, 2021, 42(10): 2170-2179.
[12]	盖江涛，生辉，周广明，刘丽芳. 串联式混合动力履带车辆急加速工况功率平衡控制策略[J]. 兵工学报, 2021, 42(10): 2180-2188.
[13]	曾根，王伟达，盖江涛，马长军，李训明，李欢欢. 双侧电机耦合驱动履带车辆斜坡转向控制策略[J]. 兵工学报, 2021, 42(10): 2189-2195.
[14]	邹天刚，闫清东，盖江涛，侯威，王志涛，帅志斌，孙雪岩. 基于扁平电机的轻混式履带车辆综合传动方案[J]. 兵工学报, 2021, 42(10): 2233-2241.
[15]	张瑞增，龚建伟，陈慧岩，王博洋，刘海鸥. 基于无人驾驶单流传动的中型履带车辆大坡道起步控制[J]. 兵工学报, 2020, 41(8): 1590-1599.

基于双层驾驶员模型的履带车辆纵向与横向协同跟踪控制方法

Longitudinal and Lateral Path Following Coordinated Control Method of Tracked Vehicle Based on Double-layer Driver Model

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价