融合认知和动力学特性的轮毂电机电动汽车轨迹规划方法研究

项目名称： 融合认知和动力学特性的轮毂电机电动汽车轨迹规划方法研究

项目编号： No.51505258

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 机械、仪表工业

项目作者： 李爱娟

作者单位： 山东交通学院

项目金额： 20万元

中文摘要： 主动避障系统是轮毂电机独立驱动电动汽车主动安全技术的一项重要研究内容，而轨迹规划是主动避障系统的一项关键技术。但是，一方面，现有轨迹规划方法适用于两轮驱动的车辆，对四轮驱动车辆不一定适用；另一方面，现有方法没有综合考虑车辆行驶的安全、经济、高效、转向稳定和反映驾驶员行为特性等因素对轨迹进行规划。本项目旨在提出能够适用于四轮独立驱动电动汽车，且综合考虑各种评价指标的轨迹规划方法。首先，对四轮独立驱动电动汽车动力学模型进行建模，并对安全经济高效曲率连续轨迹规划方法进行研究。其次，研究基于ACT-R认知模型的轨迹生成方法，生成能够反映驾驶员行为特性的轨迹；最后，研究车辆行驶过程中满足转向稳定性的轨迹优化方法。所有提出方法均通过仿真和实车试验等方法进行验证。该研究可以拓展轨迹规划研究范畴，为四轮独立驱动电动汽车主动避障系统轨迹规划问题提供有效新方法，研究成果可用于轮式移动机器人等实际应用领域。

中文关键词： 轮毂电机独立驱动电动汽车；主动避障系统；轨迹规划；认知模型；平稳转向

英文摘要： The active obstacle avoidance system is an important constituent of the wheel hub motor independent drive electric vehicle’s active safety technology and the trajectory planning is a key technology of the active obstacle avoidance system. But, on the one hand, the existing trajectory planning methods only suitable for two wheel drive vehicles, it can not apply to four-wheel driving vehicles; on the other hand, the existing trajectory planning method has not comprehensive consideration of the vehicle’s safety, economy, efficiency, stability and reflection of the driver’s behavior characteristics. According to the problems of the existing trajectory planning method, the project aims to present a trajectory planning method, which can suitable for wheel hub motor independent drive electric vehicle and several kinds of evaluation indexes are considered synthetically. First, modeling of four-wheel independent drive electric vehicle dynamics model and the trajectory planning method is studied. The trajectory planning method is safe, economic, efficient and curvature-continuous. Second, the trajectory generation method based on the ACT-R cognitive model is studied, the trajectory that can reflect the driver’s behavioral trait can be generated. Finally, the trajectory optimization method is studied and the method can make the vehicle drive steadily. All of the methods were tested by simulation and real vehicle experiment. The aim of the project is to expand the trajectory planning’s research category and provide effective new methods for the wheel hub motor independent drive electric vehicle active obstacle avoidance system. The research results can be used in practical application fields, for example the wheeled mobile robot.

英文关键词： wheel hub motor independent drive electric vehicle;active obstacle avoidance system;trajectory planning;cognitive model;steady steering