QQ客服 官方微博 反馈留言

题名	基于OGRE三维仿真的车辆自适应巡航控制
作者	苏永生
学位类别	工学硕士
答辩日期	2012-05-25
授予单位	中国科学院研究生院
授予地点	中国科学院自动化研究所
导师	赵冬斌
关键词	智能交通 三维驾驶仿真 OGRE 自适应巡航控制 最优PD控制 Intelligent transportation 3D simulation of driving OGRE adaptive cruise control optimal PD control
其他题名	Adaptive Cruise Control Based on OGRE 3D Simulation
学位专业	控制理论与控制工程
中文摘要	随着人们对行驶安全性与舒适性等汽车性能要求的提高，各国对车辆智能驾驶以及各种驾驶员辅助系统的研究也逐步深入。汽车自适应巡航控制（ACC）系统是先进车辆控制系统开发的一个重要发面，由于其对提高车辆乘坐舒适性及主动安全性的巨大潜力，得到了国内外研究人员越来越多的重视。 汽车自适应巡航控制系统是一种先进的辅助驾驶系统，是在传统的巡航控制技术基础上发展起来的。既具有定速巡航的能力，又具有应用车载传感器信息自动调整车辆行驶速度，保持本车与前行车辆安全间距的功能。最新的研究方向是实现在高速公路和城市道路上的全部速度范围内的辅助驾驶。 全部速度范围ACC系统的控制目标是适当的控制车辆的速度，保持车辆间的安全距离，提高车辆的乘坐舒适性及其主动安全性。为实现这些控制目标，需要确定理想的车辆安全距离，选取控制策略并采用适宜的控制理论建立系统控制算法，并通过仿真，验证、检验算法的有效性。 但目前对车辆自适应巡航控制算法的控制效果的检验一般是通过预先设计好的几种典型情景，通过数据仿真曲线的方式给出。该方式不够直观，而且不能够给出任意的开车情景，充分验证ACC巡航控制算法的有效性。本文基于OGRE图像引擎,搭建了一个效果逼真的三维驾驶仿真平台。该平台可以通过三维界面直观显示当前车辆的运行状态。该三维仿真平台与方向盘和刹车踏板连接，作为车辆的控制输入。驾驶员可以通过方向盘和刹车踏板，任意改变车辆的运行状态，模拟任意的开车情形，充分验证设计的ACC车辆巡航控制算法的有效性。 最后，设计了一种最优PD控制器，实现了车辆的自适应巡航控制算法，并在此三维平台上得到仿真验证。实验证明，该三维仿真平台能够模拟任意的开车情景，直观有效的检验车辆自适应巡航控制算法。最后通过仿真，验证了设计的最优PD车辆巡航控制算法的有效性。
英文摘要	With the enhancing requirements of driving safety and comfort, the research on intelligent vehicle driving and driver assistance systems is gradually strengthened. Automotive adaptive cruise control system (ACC) is an important aspect of advanced vehicle control systems development, because of its enormous potential to improve driving comfort and safety, which has been paid more and more attention from international researchers. ACC system is an advanced driver assistance systems, which is developed from traditional cruise control. It has not only cruise ability, but also can automatically adjust vehicle speed to maintain a designed distance to the preceding vehicles with sensing information. The control objective of the full range ACC system is to maintain a safe distance between vehicles to improve the driving comfort and active safety by appropriately regulating vehicle speed. To achieve these control objectives, we need to determine the desired distance between vehicles, select the control strategy with appropriate control algorithm, and verify the algorithm through simulation. Nevertheless, the general evaluation of the control performance for the current vehicle adaptive cruise control algorithms is usually presented by data simulation through some typical pre-designed scenarios. This is not intuitive and can’t fully verify the effectiveness of the ACC cruise control algorithm in most driving scenarios. We build a realistic 3D driving simulation platform based on the OGRE graphics engine. The platform can intuitively display the driving status of the current vehicles. The steering wheel and brake pedal module are also connected to this platform as the vehicle control input. The driver can change the driving states of the vehicle to simulate various driving situations through the steering wheel and braking pedal to fully verify the design of ACC algorithms. Finally, an optimal PD controller is designed to achieve ACC algorithm and verified by simulation on this 3D platform. Experiments show that the 3D simulation platform can simulate all kinds of driving scenarios, output direct and effective inspection of vehicles adaptive cruise control algorithm. Finally, the effectiveness of the optimal PD cruise control algorithm is verified through the 3D platform.
语种	中文
其他标识符	200928014628018
内容类型	学位论文
源URL	[http://ir.ia.ac.cn/handle/173211/7612]
专题	毕业生_硕士学位论文
推荐引用方式 GB/T 7714	苏永生. 基于OGRE三维仿真的车辆自适应巡航控制[D]. 中国科学院自动化研究所. 中国科学院研究生院. 2012.

个性服务

查看访问统计

相关权益政策

暂无数据

收藏/分享

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。