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طراحی مسیر مانور تعویض خط در وضعیت اضطراری، مبتنی بر عملکرد راننده ماهر | ||
| نشریه مهندسی مکانیک امیرکبیر | ||
| مقاله 1، دوره 54، شماره 2، اردیبهشت 1401، صفحه 269-288 اصل مقاله (4.63 M) | ||
| نوع مقاله: مقاله پژوهشی | ||
| شناسه دیجیتال (DOI): 10.22060/mej.2021.20198.7191 | ||
| نویسندگان | ||
| سمیر نیسی مینایی؛ علی غفاری* | ||
| دانشکده مهندسی مکانیک، آزمایشگاه سیستم های پیشرفته کنترلی خودرو، دانشگاه صنعتی خواجه نصیر الدین طوسی، تهران، ایران. | ||
| چکیده | ||
| تعویض خط در سرعتهای بالا، یک مانور راهبردی جهت اجتناب از برخورد است. در این شرایط زمان امکان بروز حادثه عمدتاً کمتر از s2 است؛ لذا یافتن مسیر مناسب و کنترل خودرو با کمترین هزینه زمانی از اهمیت بالایی برخوردار است. در این مقاله، براساس عملکرد راننده ماهر در شرایط مشابه، مسیر مناسب و سیستم کنترلی متناسب با آن، با هدف پایداری خودرو و اجتناب از برخورد طراحی شده است. برای این منظور، با شبیهسازی عملکرد راننده ماهر بوسیله مدل دینامیکی 7 درجه آزادی خودرو، مسیرهای احتمالی شناسایی و با آموزش یک شبکه عصبی، مسیر نهایی انتخاب شده است. جهت هدایت خودرو از یک کنترل‌کننده ترکیبی، شامل: معادلات رفتاری راننده با یک سیستم شبکه عصبی پوششی و دو کنترل‌کننده تناسبی-مشتقی استفاده شده است. مهم‌ترین نوآوری‌های این روش، طراحی هم‌زمان مسیرهای پایدار با حفظ قید هندسی عدم برخورد و هزینه محاسباتی و زمانی ناچیز سیستم کنترلی و طراحی مسیر برای شرایط اضطراری است. نتایج حاصل از شبیه‌سازی‌ها نشان میدهد بیشترین خطای شبکه عصبی طراحی مسیر حدود 11 درصد است. همچنین سیستم کنترلی توانسته در شرایط مختلف سرعتی و اصطکاک جادهای، با حداکثر خطای جابهجایی عرضی cm40 خودرو را هدایت و مسیر را دنبال کند. | ||
| کلیدواژه‌ها | ||
| اجتناب از برخورد؛ راننده ماهر؛ تعویض خط اضطراری؛ خودروی خودران؛ طراحی مسیر | ||
| عنوان مقاله [English] | ||
| Lane Change Path Planning in Emergency Situation Based on Skilled Driver's Performance | ||
| نویسندگان [English] | ||
| Samir Neisy Minaee؛ Ali Ghaffari | ||
| PhD Student, Department of Mechanical Engineering, Advanced Vehicle Control System Laboratory (avcs-lab), Faculty of Mechanical Engineering, K.N. Toosi University of Ttechnology, Tehran, Iran, | ||
| چکیده [English] | ||
| Lane Change at high speeds is a strategic maneuver to avoid the collision. In this situation, The time of an accident possibility is mainly less than two seconds. therefore, finding the proper trajectory and control of the vehicle is crucial at the lowest cost. In this paper, based on a skilled driver’s performance in a similar situation, a proper path and corresponding appropriate control system was designed aiming at vehicle stability preserving and collision avoidance. To this purpose, possible paths were simulated and identified using the vehicle's seven degrees of freedom model and applying the driver’s behavior. A neural network system was trained; then, the trajectory was chosen. A hybrid controller was hired for the vehicle navigation, consisting of the driver's performance pattern with a covering neural network and two proportional derivative controllers. The Novelties of this method are the simultaneous design of a stable path while maintaining geometric constraints and the low computational burden of the path planning and control system. The results show that the highest neural network error is about 11%. Also, the control system has been able to steer the vehicle and follow the trajectory with 40cm maximum lateral displacement error in the speed and road friction different conditions. | ||
| کلیدواژه‌ها [English] | ||
| Autonomous vehicle, Collision avoidance, Skilled driver, Emergency Lane change, Path planning | ||
| مراجع | ||
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