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Proceedings of the Institution of Mechanical Engineers Part D-Journal of Automobile Engineering最新文献

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A multi-objective coupling parameter hierarchical optimization framework for a novel dual-motor powertrain system of electric vehicle 新型电动汽车双电机动力总成系统的多目标耦合参数分层优化框架
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-25 DOI: 10.1177/09544070241257556
Cheng Lin, Huimin Liu, Xiao Yu, Peng Xie
Collaborative optimization of the coupling parameters of powertrain is essential to improve the performance of electric vehicles. However, complex coupling relationships and multi-objective trade-offs bring challenges to traditional heuristic optimization algorithms, limiting the exploitation of system performance. To improve optimization accuracy and the performance of vehicles, a global parameter optimization framework for multi-power source systems is proposed. Specifically, the optimization framework consists of three layers, the middle and bottom layers respectively perform multi-disciplinary and multi-objective collaborative optimization of the coupling parameters to obtain a Pareto front formed by the optimal combination of parameters. Furthermore, the decision layer utilizes the Technique for Order Preference by Similarity to Ideal Solution to perform a comprehensive evaluation of the solution on the Pareto front to scientifically obtain the best solution and the weight coefficient range. The simulation results demonstrate that the optimized optimal solution improves dynamic performance by 15.77% while reducing operating costs by 7.37% compared to the initial parametric solution, resulting in a significant improvement in vehicle economy. Meanwhile, the parameter optimization design regularities of the dual-motor system are summarized.
动力总成耦合参数的协同优化对于提高电动汽车的性能至关重要。然而,复杂的耦合关系和多目标权衡给传统的启发式优化算法带来了挑战,限制了系统性能的发挥。为了提高优化精度和车辆性能,本文提出了多动力源系统的全局参数优化框架。具体来说,该优化框架由三层组成,中间层和底层分别对耦合参数进行多学科、多目标协同优化,以获得由参数最优组合形成的帕累托前沿。此外,决策层利用与理想解相似度排序优选技术,对帕累托前线上的解进行综合评价,科学地得出最优解及权重系数范围。仿真结果表明,优化后的最优解与初始参数解相比,动态性能提高了 15.77%,运营成本降低了 7.37%,使车辆的经济性显著提高。同时,总结了双电机系统参数优化设计的规律性。
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引用次数: 0
Numerical and experimental investigation of vibration and response optimization of a car chassis with effect of changing driving speed 汽车底盘振动和响应优化的数值和实验研究与行驶速度变化的影响
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-25 DOI: 10.1177/09544070241264867
Shaikh Mosin K, Adik Yadao
Vibration of automobile vehicles is the important issue in the entire vehicle design process as it affects the comfort level and the overall image of a vehicle, an experimental evaluation and prediction of vibration level of the vehicle in stationary and driving conditions are often necessary. This paper delves in to a numerical and experimental investigation of vibration and response optimization of a car chassis with peak acceleration and peak amplitude level of vibration as a response parameter in vertical motion. These response parameters were obtained numerically by developing a mathematical model of car and equation of motion. Newmark Beta method used to solve the equation of motion to get the values of response parameters in MATLAB software. For the experimental investigation of the response parameters a car with monocoque chassis, three cylinder engine, Macpherson front suspension and twist beam rear suspension with coil spring considered and FFT analyzer used for the data collection of the response parameters, FFT analyzer works on the fast Fourier transform algorithm. Comparative analysis between the numerical and experimental investigated values of response parameters shows the minimum error of 0.6035% and average error of 2.81% at various points on chassis; it shows the precision of the mathematical model and practical car model. To optimize the performance index of response parameters Fractional factorial design of experiment (DOE) method applied with six factors and two levels. The main effect analysis, analysis of contribution, analysis of variance and backward elimination method were applied in fractional factorial design. Regression equation for the response parameters were obtained with two level six factor fractional factorial design for the vibration level prediction. The comparative analysis of the response parameter levels before and after the optimization shows the reduction of 65.61% in peak acceleration level and reduction of 17.70% in the peak amplitude level of a car chassis with respect to change in the driving speed. The design and optimization method proposed in this study has a significant effect on the vibration reduction of the car chassis which provides a reference for the optimization of the vibration level to improve the performance of car suspension.
汽车振动是整个车辆设计过程中的重要问题,因为它会影响车辆的舒适度和整体形象,因此通常需要对车辆在静止和行驶条件下的振动水平进行实验评估和预测。本文以垂直运动中的峰值加速度和峰值振幅作为响应参数,对汽车底盘的振动和响应优化进行了数值和实验研究。这些响应参数是通过建立汽车数学模型和运动方程数值求得的。在 MATLAB 软件中使用纽马克贝塔法求解运动方程,以获得响应参数值。在响应参数的实验研究中,考虑了一辆采用单体底盘、三缸发动机、麦弗逊前悬架和螺旋弹簧扭转梁后悬架的汽车,并使用 FFT 分析仪收集响应参数的数据,FFT 分析仪采用快速傅里叶变换算法。响应参数的数值和实验调查值之间的对比分析表明,底盘上各点的最小误差为 0.6035%,平均误差为 2.81%;这表明数学模型和实际汽车模型的精确性。为优化响应参数的性能指标,采用了六因素两水平的分因子试验设计法(DOE)。在分数因子设计中应用了主效应分析、贡献分析、方差分析和反向消除法。通过两级六因子分数阶乘设计得到了响应参数的回归方程,用于振动级别预测。对优化前后响应参数水平的对比分析表明,随着行驶速度的变化,汽车底盘的峰值加速度水平降低了 65.61%,峰值振幅水平降低了 17.70%。本研究提出的设计和优化方法对汽车底盘的减振效果显著,为优化振动水平以提高汽车悬架性能提供了参考。
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引用次数: 0
Dynamic power matching for wheel loader based on power reflux hydrodynamic transmission system 基于动力回流液力传动系统的轮式装载机动态动力匹配
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-25 DOI: 10.1177/09544070241261107
Yingzhe Kan, Shuangyi Xie, Qin Yin, Wei Jiang, Min Yang, Run Qian
The power reflux hydrodynamic transmission system (PRHTS) has the advantages of flexible transmission, low-speed torque multiplication, adaptive adjustment of speed ratio to external load, and improved torque converter (TC) transmission efficiency. Therefore, it is highly suitable for wheel loaders. Wheel loaders usually work in harsh environments with complex and changing working conditions, and static power matching makes it challenging to fully utilize wheel loaders’ performance. In response to the above issues, this paper proposes a dynamic power matching optimization design method for PRHTS with capacity adjustment gear (CAG) based on wheel loader. The optimization design method obtains data through V-shaped working condition experiments of the wheel loader, and conducts clustering analysis on the data to obtain high-frequency kinematic segments and their characteristic parameters. On this basis, combined with the analysis of the working principle of PRHTS, the system structural parameters are optimized and designed. Compared with static power matching, the dynamic power matching optimization design method increases the average traction force by 4.9 kN, improves the transmission efficiency by 2.6%, reduces the average fuel consumption rate by 3.66 g (kW·h)−1, and reduces the fuel consumption per V-cycle by 27.7 ml in V-shaped working conditions.
动力回流液力传动系统(PRHTS)具有传动灵活、低速扭矩倍增、根据外部负载自适应调节速比、提高变矩器(TC)传动效率等优点。因此,它非常适合轮式装载机。轮式装载机通常工作在环境恶劣、工况复杂多变的环境中,静态动力匹配使轮式装载机性能的充分发挥面临挑战。针对上述问题,本文提出了一种基于轮式装载机的带容量调节齿轮(CAG)的 PRHTS 动态功率匹配优化设计方法。该优化设计方法通过轮式装载机的 V 型工况实验获取数据,并对数据进行聚类分析,得到高频运动线段及其特征参数。在此基础上,结合对 PRHTS 工作原理的分析,对系统结构参数进行优化设计。与静态功率匹配相比,动态功率匹配优化设计方法使平均牵引力提高了 4.9 kN,传动效率提高了 2.6%,平均燃料消耗率降低了 3.66 g (kW-h)-1,在 V 型工况下每 V 循环燃料消耗量降低了 27.7 ml。
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引用次数: 0
Numerical study of the influence of wetting properties on flow characteristics and heat transfer in piston cooling gallery 湿润特性对活塞冷却走廊中流动特性和传热影响的数值研究
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-25 DOI: 10.1177/09544070241265400
Fei Dong, Jiu Rui Zhao, Wen Yu Zhang
Being a crucial thermal management component in an internal combustion engine, the wettability of the piston gallery significantly influences heat transfer performance. This study deeply investigates the impact of the piston gallery’s wettability on heat transfer performance through numerical simulation. Adjusting the wettability parameter, specifically the contact angle, resulted in the observation of varied droplet patterns on the surface of gallery. Surface wettability directly influences oil distribution and adhesion on the piston surface, consequently impacting the piston’s cooling effectiveness. Optimizing the wettability of the oil cavity is expected to improve the cooling efficiency of the piston, contributing to an overall performance improvement. The numerical study revealed that a surface with a certain degree of hydrophilicity facilitates uniform droplet distribution on the surface of the gallery, forming a film-like oil droplet. Such a film of oil droplets effectively enhances heat transfer efficiency, with a well-wetted surface promoting effective contact between the oil and piston surface for more efficient heat transfer. Conversely, a highly hydrophobic surface leads to droplet self-aggregation in the gallery, hindering effective heat dissipation from the piston. Poor wettability prevents uniform oil adhesion to the piston surface, resulting in decreased heat transfer efficiency. To summarize, the wettability of the piston gallery significantly influences heat transfer performance. Optimizing surface wettability enhances piston cooling, thereby improving overall internal combustion engine performance.
作为内燃机的重要热管理部件,活塞廊的润湿性对传热性能有很大影响。本研究通过数值模拟深入研究了活塞廊的润湿性对传热性能的影响。通过调整润湿性参数,特别是接触角,观察到活塞柱表面的液滴形态各异。表面润湿性直接影响活塞表面的油分布和附着力,从而影响活塞的冷却效果。优化油腔的润湿性有望提高活塞的冷却效率,从而促进整体性能的提高。数值研究表明,具有一定亲水性的表面有利于油滴在管廊表面均匀分布,形成膜状油滴。这种油滴薄膜可有效提高传热效率,湿润的表面可促进油与活塞表面的有效接触,从而提高传热效率。相反,高度疏水的表面则会导致油滴在管廊中自我聚集,阻碍活塞的有效散热。润湿性差会使油液无法均匀地附着在活塞表面,从而降低传热效率。总之,活塞槽的润湿性对传热性能有很大影响。优化表面润湿性可增强活塞冷却效果,从而提高内燃机的整体性能。
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引用次数: 0
Quantitative research on the tracked vehicle energy consumption characteristics based on the longitudinal-vertical coupling dynamics 基于纵横耦合动力学的履带式车辆能耗特性定量研究
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-25 DOI: 10.1177/09544070241264874
Zhiqiang Guo, Chunwang Liu, Hongxiu Zhu, Junlin Luo, Wei Wu
In this paper, an energy computation method is proposed based on the longitudinal-vertical coupling tracked vehicle dynamic model to quantificationally study the energy generation and dissipation for tracked vehicles under off-road conditions. When the tracked vehicle drives on uneven road, the suspension damping components and the additional driving resistance caused by ground roughness consumes part of the driving power. The energy consumption distributions of the tracked vehicle under different speeds, different road conditions and different driving conditions are investigated and compared. The results indicate that a larger road roughness coefficient, a higher travelling speed and a greater driving force will make the proportions of energy consumed by the suspension dampers and the additional driving resistance to the total energy consumption larger. The influence of road conditions on the energy consumption distribution of the tracked vehicle takes precedence over the tracked vehicle speed and the effect of the driving force is internally due to speed changes.
本文提出了一种基于纵横耦合履带式车辆动力学模型的能量计算方法,用于定量研究越野条件下履带式车辆的能量产生和耗散。履带式车辆在不平整路面行驶时,悬架阻尼元件和地面粗糙度引起的附加行驶阻力会消耗部分行驶功率。研究并比较了履带式车辆在不同速度、不同路况和不同驾驶条件下的能量消耗分布。结果表明,路面粗糙系数越大、行驶速度越高、驱动力越大,悬架减震器和附加行驶阻力消耗的能量占总能量消耗的比例就越大。路况对履带式车辆能量消耗分布的影响优先于履带式车辆的速度,而驱动力的影响则因速度变化而在内部产生。
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引用次数: 0
Research on coupled bifurcation and stability of tractor semi-trailer under combined braking and steering conditions 牵引式半挂车在联合制动和转向条件下的耦合分岔和稳定性研究
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-25 DOI: 10.1177/09544070241265395
Jinhai Zhao, Xiuheng Wu, Zhenghe Song, Liang Sun, Xiangyu Wang
Existing stability analyzes for the tractor semi-trailer cannot fully explain the instability phenomenon during combined steering and braking conditions, under which the tire lateral forces are affected by the longitudinal tire forces due to adhesive force ellipse. In response to the problem, this article obtains the coupled bifurcation and the stability area of the tractor semi-trailer under different deceleration and steering angles. First, the 8 degrees of freedom (8 DOF) tractor semi-trailer nonlinear dynamical model considering the nonlinear tire characteristics is built. The constrained continuation method is used, and the inertial force caused by braking is equivalent to two external forces and added to the tractor semi-trailer model. Thus, the tractor semi-trailer system can be seen as being in an equivalent equilibrium state. Next, the equilibrium points under varying steering angles and different decelerations are solved by a hybrid method combining the Runge-Kutta method with the gradient descent method. The bifurcation diagrams denote the changes in the equilibrium brought by different conditions and reveal the influence of different decelerations on the stable steering angle range. Further, the stable regions under different conditions are illustrated to give an understanding of the effect of the braking operations on the stability of the tractor semi-trailer. Compared with the existing literature, it can be proved that in addition to the fixed parameters such as road adhesion coefficient, the deceleration under braking conditions will also have an impact on the stability regions of the tractor semi-trailer. The stable boundary of the tractor semi-trailer under combined braking and steering conditions can be obtained by off-line calculation, and the results can serve on the theoretical considerations on the tractor semi-trailer braking stability control.
现有的牵引半挂车稳定性分析无法完全解释在转向和制动联合工况下,由于粘着力椭圆的存在,轮胎侧向力受到轮胎纵向力的影响而产生的不稳定现象。针对这一问题,本文得到了牵引半挂车在不同减速角和转向角下的耦合分岔和稳定区域。首先,建立了考虑轮胎非线性特性的 8 自由度(8 DOF)牵引半挂车非线性动力学模型。采用约束延续法,将制动引起的惯性力等效为两个外力,并将其添加到牵引半挂车模型中。因此,牵引车半挂车系统可视为处于等效平衡状态。接下来,采用 Runge-Kutta 法和梯度下降法相结合的混合方法求解不同转向角和不同减速度下的平衡点。分岔图表示了不同条件下平衡状态的变化,并揭示了不同减速率对稳定转向角范围的影响。此外,还说明了不同条件下的稳定区域,以了解制动操作对牵引半挂车稳定性的影响。与现有文献相比,可以证明除了道路附着系数等固定参数外,制动条件下的减速度也会对牵引半挂车的稳定区域产生影响。通过离线计算可以得到牵引半挂车在制动和转向联合工况下的稳定边界,其结果可以为牵引半挂车制动稳定性控制的理论思考服务。
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引用次数: 0
Adaptive endocrine PID control for active suspension based on reinforcement learning 基于强化学习的主动悬挂系统自适应内分泌 PID 控制
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-25 DOI: 10.1177/09544070241262354
Nan Li, Yan Shi
Recent research has focused on active suspension systems because of their real-time ability to adapt to a variety of road surfaces, external perturbations, and potential to control the smoothness of vehicles. Since the parameters of conventional PID controllers used for active suspension control have limitations due to their inability to adapt to external changes, the fuzzy PID controllers are developed to overcome such limitations. However, fuzzy control have certain disadvantages related to the manual definition of fuzzy rules and variables. In this paper, a first step in improving the robustness of the PID control is to use the endocrine framework, which is considered to be highly nonlinear and complex in the vehicle suspension system. A deep reinforcement learning algorithm is then used to train the intelligence to provide an efficient strategy for adaptive gain adjustment for the endocrine PID, which requires no prior knowledge of active suspension control. The dynamics of the whole vehicle are modeled using ADAMS to analyze the dynamic characteristics of the vehicle at different speeds and road surfaces. The results show that the active suspension based on deep reinforcement learning controlling reduces vertical acceleration of the body more effectively and improves ride comfort more efficiently without sacrificing dynamic suspension deflection or dynamic tire load as compared with passive suspension or fuzzy PID suspensions. Further, the controller performs well under conditions such as changing road grades and vehicle speeds, indicating a good generalization.
由于主动悬架系统能够实时适应各种路面和外部扰动,并具有控制车辆平稳性的潜力,因此近期的研究重点集中在主动悬架系统上。由于用于主动悬架控制的传统 PID 控制器的参数无法适应外部变化,因此存在一定的局限性,为了克服这些局限性,人们开发了模糊 PID 控制器。然而,模糊控制存在一些缺点,即需要手动定义模糊规则和变量。在本文中,提高 PID 控制鲁棒性的第一步是使用内分泌框架,该框架被认为在车辆悬架系统中具有高度的非线性和复杂性。然后使用深度强化学习算法来训练智能,为内分泌 PID 提供高效的自适应增益调整策略,而这并不需要主动悬架控制方面的先验知识。使用 ADAMS 对整车的动力学进行建模,分析车辆在不同速度和路面下的动态特性。结果表明,与被动悬架或模糊 PID 悬挂相比,基于深度强化学习控制的主动悬架能更有效地降低车身的垂直加速度,并在不牺牲动态悬架挠度或动态轮胎载荷的情况下更有效地提高乘坐舒适性。此外,该控制器在道路坡度和车速变化等条件下表现良好,表明其具有良好的泛化能力。
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引用次数: 0
Simulation analysis of quarter car active suspension control based on QBP-PID 基于 QBP-PID 的四分之一汽车主动悬架控制仿真分析
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-25 DOI: 10.1177/09544070241265152
Yunshi Wu, Donghai Su
In order to further improve the stability and comfort of automobile active suspension, a BP neural network controller based on Q-learning algorithm optimization (QBP-PID) is proposed. QBP-PID uses BP neural network to adjust the PID gain, introduces the optimal strategy of Q-learning to correct the weight momentum factor, and optimizes the key weights in the neural network, so that the controller has better learning ability and online correction ability. A quarter suspension simulation model with random road excitation as the system input is established in Simulink software. The root mean square of body acceleration and tire dynamic displacement are used as the evaluation indexes of active suspension performance. The simulation results show that compared with the traditional passive suspension, PID control suspension and BP-PID control suspension, the active suspension using QBP-PID control algorithm can significantly improve the driving stability and comfort of the vehicle.
为了进一步提高汽车主动悬架的稳定性和舒适性,提出了一种基于 Q-learning 算法优化的 BP 神经网络控制器(QBP-PID)。QBP-PID 利用 BP 神经网络调节 PID 增益,引入 Q-learning 的最优策略修正权重动量因子,优化神经网络中的关键权重,使控制器具有更好的学习能力和在线修正能力。在 Simulink 软件中建立了以随机路面激励为系统输入的四分之一悬架仿真模型。以车身加速度均方根和轮胎动态位移作为主动悬架性能的评价指标。仿真结果表明,与传统的被动悬架、PID 控制悬架和 BP-PID 控制悬架相比,采用 QBP-PID 控制算法的主动悬架能显著提高车辆的行驶稳定性和舒适性。
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引用次数: 0
Computational analysis of piston shape effects on in-cylinder gas flow, fuel-charge mixing, and combustion characteristics in a two-stroke rod-less spark ignition opposed-pistons engine 二冲程无杆火花点火对置活塞发动机活塞形状对缸内气体流动、燃料-装料混合和燃烧特性影响的计算分析
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-24 DOI: 10.1177/09544070241264087
Zhaojun Zhu, Ziming Yang, Yikai Li, Chenghan Sun
Compared with the traditional in-cylinder direct-injection spark ignition engine, the side-injection and side-spark-ignition characteristics of the two-stroke opposed-piston engine increase the ignition kernel offset and flame propagation distance. Increasing the flame propagation speed can to some extent solve the drawbacks caused by the non-central arrangement of spark plugs. The combustion chamber structure plays a crucial role in gas flow, fuel-charge mixing, and combustion characteristics. Therefore, three pistons were designed and comparatively analyzed in this study. The results show that: The pancake piston is beneficial to maintaining the intake swirl strength due to its simple and smooth spherical arc structure. The swirl strength of the pit and pit-guided piston decreases obviously, and the tumble strength can be maintained well. Compared to pancake and pit-guided pistons, the average TKE for the pit piston increased by approximately 25%, with a more concentrated distribution at the spark timing. The pancake piston exhibits the best scavenging performance, reducing the residual exhaust gas ratio by 2.1% and fresh air loss by 3.3% to the pit piston. A stable ignition core can be formed at the spark timing, but significant differences are observed in the flame propagation process for three pistons. Compared to the pit-guided piston, the pit piston has a 0.3% decrease in the indicated thermal efficiency, but a 13.1% decrease in combustion duration, which reduces knock tendency.
与传统的缸内直喷火花点火发动机相比,二冲程对置活塞发动机的侧喷和侧火花点火特性增加了点火内核偏移和火焰传播距离。提高火焰传播速度可以在一定程度上解决火花塞不集中布置带来的弊端。燃烧室结构对气体流动、燃料与充填物混合和燃烧特性起着至关重要的作用。因此,本研究设计了三种活塞并进行了比较分析。结果表明薄饼活塞因其简单平滑的球形圆弧结构,有利于保持进气漩涡强度。凹坑和凹坑导向活塞的漩涡强度明显降低,而翻滚强度能很好地保持。与薄饼活塞和凹坑导向活塞相比,凹坑活塞的平均 TKE 增加了约 25%,且在火花正时分布更为集中。薄饼活塞的清除性能最好,与坑式活塞相比,残余废气比降低了 2.1%,新鲜空气损失降低了 3.3%。在火花定时时可以形成稳定的点火核心,但三种活塞的火焰传播过程存在显著差异。与凹坑导向活塞相比,凹坑活塞的指示热效率降低了 0.3%,但燃烧持续时间缩短了 13.1%,从而降低了爆震倾向。
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引用次数: 0
A global and local integrated dynamic path planning algorithm for village roads region 乡村道路区域的全局和局部综合动态路径规划算法
IF 1.7 4区 工程技术 Q3 ENGINEERING, MECHANICAL Pub Date : 2024-07-24 DOI: 10.1177/09544070241263888
Jinyi Liu, Fushan Yan, He Dong, Lirong Fu, Ying Zhao
In China, the village roads are characterized by numerous intersections and significant differences in road widths, creating a complex maze-like terrain. This undoubtedly increases the difficulty of path planning for autonomous vehicles. This study proposes an improved bidirectional RRT* algorithm that utilizes the advantages of the rapid random search of the RRT* algorithm. It introduces virtual points to address the irregularity of road networks and creates enveloping circles at expanding nodes to enhance path reachability, thus obtaining the optimal global planning path. To enhance path tracking comfort, a fifth-order B-spline curve is utilized to smooth the global path, and local path planning is performed using Quadratic Programming (QP). The proposed combined global and local path planning method was evaluated through Co-simulation experiments basing on the Matlab/CarSim/PreScan platform. Simulation results demonstrate that the enhanced RRT* algorithm outperforms the traditional RRT* algorithm in the same scenario. Specifically, the improved algorithm reduces the running time by 29.56%, increases node utilization by approximately 15.33%, and decreases the planned path length by 2.8%. Additionally, the vehicle’s final lateral tracking error was controlled within 0–0.04 m, and the longitudinal tracking error was controlled within 0–0.1 m, fully demonstrating the vehicle’s excellent path-tracking performance. The study’s innovative ideas will offer methodological support for researching path planning for autonomous vehicles in specific scenarios.
在中国,乡村道路的特点是交叉路口多、路面宽度差异大,形成了复杂的迷宫般地形。这无疑增加了自动驾驶车辆路径规划的难度。本研究利用 RRT* 算法快速随机搜索的优点,提出了一种改进的双向 RRT* 算法。它引入虚拟点来解决路网不规则的问题,并在扩展节点处创建包络圆来增强路径可达性,从而获得最优的全局规划路径。为了提高路径跟踪的舒适度,利用五阶 B 样条曲线平滑全局路径,并使用二次编程(QP)进行局部路径规划。通过基于 Matlab/CarSim/PreScan 平台的协同仿真实验,对所提出的全局和局部相结合的路径规划方法进行了评估。仿真结果表明,在相同场景下,增强型 RRT* 算法优于传统 RRT* 算法。具体来说,改进算法的运行时间减少了 29.56%,节点利用率提高了约 15.33%,计划路径长度减少了 2.8%。此外,车辆的最终横向跟踪误差控制在 0-0.04 米以内,纵向跟踪误差控制在 0-0.1 米以内,充分展示了车辆卓越的路径跟踪性能。该研究的创新思路将为研究特定场景下自动驾驶车辆的路径规划提供方法论支持。
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Proceedings of the Institution of Mechanical Engineers Part D-Journal of Automobile Engineering
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