自动驾驶汽车横向可拓预瞄切换控制系统研究*

doi:10.19562/j.chinasae.qcgc.2018.09.005

汽车工程 ›› 2018, Vol. 40 ›› Issue (9): 1032-1039.doi: 10.19562/j.chinasae.qcgc.2018.09.005

自动驾驶汽车横向可拓预瞄切换控制系统研究^*

蔡英凤¹,臧勇²,孙晓强¹,陈龙¹,王海²,江浩斌²,何友国¹

1.江苏大学汽车工程研究院,镇江 212013;
2.江苏大学汽车与交通工程学院,镇江 212013

收稿日期:2018-07-19 出版日期:2018-09-25 发布日期:2018-09-25
通讯作者: 王海,E-mail:wanghai1019@163.com
基金资助:
国家重点研发计划(2017YFB0102603)、国家自然科学基金(U1564201,U1664258,U1764257,61601203,61773184)、江苏省重点研发计划(BE2016149)、江苏省战略性新兴产业发展重大专项(苏发改高技发(2016)1094号,(2015)1084号)和镇江市重点研发计划(GY2017006)资助。
原稿收到日期为2018年7月19日,修改稿收到日期为2018年8月16日

A Research on Lateral Extendable Preview Switching
Control System for Autonomous Vehicles

Cai Yingfeng¹, Zang Yong², Sun Xiaoqiang¹, Chen Long¹, Wang Hai², Jiang Haobin² & He Youguo¹

1.Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013;
2.School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013

Received:2018-07-19 Online:2018-09-25 Published:2018-09-25

摘要/Abstract

摘要： 针对曲率变化范围大的弯道混合道路工况下,自动驾驶汽车横向控制系统的适应性和控制精度不高的问题,本文中提出了一种自动驾驶汽车横向可拓预瞄切换控制方法。控制系统由上层可拓控制器和下层控制器两部分组成,实现了在经典域中反馈控制和可拓域中前馈反馈控制策略的切换控制。Simulink仿真结果表明,该控制方法在保证小曲率道路控制精度的同时,降低了大曲率道路的控制误差,对于时变工况具有很好的适应性。

关键词: 自动驾驶汽车, 可拓预描切换, 横向控制, 反馈控制, 前馈反馈控制

Abstract: Aiming at the problem of poor adaptability and low control accuracy of lateral control system in autonomous driving vehicles under mixed road conditions with large curvature range, an extendable preview switching control method for the lateral control of autonomous vehicles is proposed in this paper. The control system, consisting of upper layer extendable controller and lower layer controller, realizes the switching control between the feedback control in classic domain and the feedback-forward control in extendable domain. The simulation results in Simulink show that the control method proposed reduce the control error on the road with large curvature while ensuring the control accuracy on the road with small curvature, having a good adaptability to time-varying conditions

Key words: autonomous vehicles, extendable preview switching, lateral control, feedback control, feedforward-feedback control

蔡英凤,臧勇,孙晓强,陈龙,王海,江浩斌,何友国. 自动驾驶汽车横向可拓预瞄切换控制系统研究^*[J]. 汽车工程, 2018, 40(9): 1032-1039.

Cai Yingfeng, Zang Yong, Sun Xiaoqiang, Chen Long, Wang Hai, Jiang Haobin & He Youguo. A Research on Lateral Extendable Preview Switching
Control System for Autonomous Vehicles[J]. , 2018, 40(9): 1032-1039.

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自动驾驶汽车横向可拓预瞄切换控制系统研究^*

A Research on Lateral Extendable Preview Switching
Control System for Autonomous Vehicles

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自动驾驶汽车横向可拓预瞄切换控制系统研究*

A Research on Lateral Extendable Preview SwitchingControl System for Autonomous Vehicles

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自动驾驶汽车横向可拓预瞄切换控制系统研究^*

A Research on Lateral Extendable Preview Switching
Control System for Autonomous Vehicles