基于电子地图信息的车辆主动转向仿真

以驾驶员预瞄点处的横向偏移最小为目标，以道路曲率输入的车辆运动模型为基础，分析了车辆进行主动转向所需要的道路环境信息，并研究了利用电子地图及车辆定位传感器得到这些信息的方法。利用设计的转向控制器进行了恒定道路曲率及基于电子地图数据的实际道路信息输入下的主动转向仿真。仿真结果表明，利用电子地图提供的信息能够在投入较低成本的条件下进行主动转向，使车辆在道路曲率变化的情况下沿预定道路行驶并有着较小的侧向加速度；从而提高车辆在弯曲道路行驶的安全性、舒适性。

Simulation of Vehicle Active Steering Based on Digital Map Information

Based on vehicle kinematics model including road curvature input with the aim of minimizing lateral deviation, the road information required for active steering was analyzed. A method to obtain the road and vehicle pose information using digital map and vehicle positioning sensors was proposed.The active steering simulation with designed steering controller under idealized constant mad curvature and digital-map-data-based input was studied.The result shows that, active steering could be realized with low cost on the basis of mad information input from digital map and positioning sensors, vehicle could run along the target line with a continuously changing curvature and result in a low lateral acceleration to improve the driving comfort, handling and safety while the vehicle running on curved mad.