基于卡尔曼滤波器的智能车过弯时间优化控制算法

中国机械工程 ›› 2015, Vol. 26 ›› Issue (19): 2693-2697.

基于卡尔曼滤波器的智能车过弯时间优化控制算法

孙涛1,2;徐正进1,2;尤霖1,2;黄序1;郑松林1,2;张振东1,2;孙跃东1

1.上海理工大学，上海，200093
2.机械工业汽车底盘机械零部件强度与可靠性评价重点实验室，上海，200093

出版日期:2015-10-10 发布日期:2015-10-10
基金资助:
上海市科研创新项目(12ZZ145)

Cornering-time Optimal Algorithm for Intelligent Scaled Vehicle Based on Kalman Filter

Sun Tao1,2;Xu Zhengjin1,2;You Lin1,2;Huang Xu1;Zheng Songlin1,2;Zhang Zhendong1,2;Sun Yuedong1

1.University of Shanghai for Science and Technology，Shanghai，200093
2.Machinery Industry Key Laboratory for Mechanical Strength & Reliability Evaluation of Auto Chassis Components，Shanghai，200093

Online:2015-10-10 Published:2015-10-10

摘要/Abstract

摘要：

对最小过弯时间算法的研究是赛车单圈行驶时间优化的关键问题之一。在最优控制理论的框架下，设计了一种基于Kalman滤波器的过弯时间优化控制算法。运用Kalman滤波算法估计了车辆行驶状态，通过控制算法调节轮胎转角实现了过弯轨迹的优化。最后，根据相似理论Buckingham Pi定理，运用飞思卡尔智能模型车进行试验。结果表明，所设计的优化控制算法可有效缩短车辆过弯时间，验证了优化算法的有效性。

关键词: 过弯时间, 卡尔曼滤波, 动态相似, 最优控制

Abstract:

Vehicle optimal cornering-time is one of the most significant aspects in the field of lap time optimization. An optimal cornering-time algorithm was proposed herein based on the Kalman filter and optimal control theory. The Kalman algorithm was used to estimate the motion state of the vehicle，and the optimal trajectories were computed by the optimal control algorithm. A scaled vehicle with Freescale controller was developed subsequently according to the Buckingham Pi theorem based on dynamics similarity to validate the effectiveness of the control algorithm. The experimental results indicate that the scaled vehicle reduces the vehicle cornering-time effectively without sacrificing the vehicle stability.

Key words: cornering time, Kalman filtering, dynamic similarity, optimal control

中图分类号:

TP391.9

孙涛, 徐正进, 尤霖, 黄序, 郑松林, 张振东, 孙跃东. 基于卡尔曼滤波器的智能车过弯时间优化控制算法[J]. 中国机械工程, 2015, 26(19): 2693-2697.

Sun Tao, Xu Zhengjin, You Lin, Huang Xu, Zheng Songlin, Zhang Zhendong, . Cornering-time Optimal Algorithm for Intelligent Scaled Vehicle Based on Kalman Filter[J]. China Mechanical Engineering, 2015, 26(19): 2693-2697.

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