基于可拓优度评价的智能汽车横向轨迹跟踪控制方法*

doi:10.19562/j.chinasae.qcgc.2019.010.012

摘要/Abstract

摘要： 针对复杂工况横向控制精度低、稳定性差的问题,提出了一种基于可拓优度评价的智能汽车横向轨迹跟踪控制方法,创新采用可拓优度评价控制方法,设计了两层结构的横向轨迹跟踪控制系统。上层控制器包括基于预瞄偏差的PID反馈控制和基于道路曲率的PID前馈反馈控制;下层控制器利用可拓优度评价方法来评价上层两控制器的优劣,根据实时的车辆道路系统状态,选择优度高的控制器输出值,从而实现智能汽车横向轨迹跟踪控制功能,不论是小偏差、小曲率工况,还是大偏差、大曲率工况,都能达到良好的控制效果,提升了智能汽车横向控制系统的工况适应性和可靠性。仿真结果表明,与单一PID反馈控制相比,采用优度评价控制时,横向位置偏差和航向偏差分别减小了16.67%和12%。

关键词: 智能汽车, 横向轨迹跟踪控制, 可拓优度评价, 反馈控制, 前馈反馈控制

Abstract: Aiming at the low accuracy and poor stability in complex working conditions, a lateral trajectory tracking control scheme is proposed for intelligent vehicle based on extension goodness evaluation. Two-layer structure of lateral trajectory tracking control system is designed, in which the upper layer includs the PID feedback control based on preview deviation and the PID feedforward-feedback control based on road curvature, while the lower layer uses the extension goodness evaluation method to evaluate two controllers in upper layer. According to the real-time state of vehicle-road system, the controller output with higher goodness is chosen, thus the function of lateral trajectory tracking control is realized in intelligent vehicle. No matter in small deviation and curvature condition or large deviation and curvature condition, good control effects are achieved and both the condition adaptability and reliability of lateral control system in intelligent vehicle are enhanced. Simulation results show that compared with the single PID feedback control, when goodness evaluation control is adopted the lateral position deviation and the course deviation is reduced by 16.67% and 12% respectively

Key words: intelligent vehicle; lateral trajectory tracking control; extension goodness evaluation; feedback control; feedforward-feedback control

蔡英凤,秦顺琪,臧勇,孙晓强,陈龙. 基于可拓优度评价的智能汽车横向轨迹跟踪控制方法^*[J]. 汽车工程, 2019, 41(10): 1189-1196.

Cai Yingfeng, Qin Shunqi, Zang Yong, Sun Xiaoqiang & Chen Long. Lateral Trajectory Tracking Control Scheme for Intelligent Vehicle Based on Extension Goodness Evaluation[J]. Automotive Engineering, 2019, 41(10): 1189-1196.

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基于可拓优度评价的智能汽车横向轨迹跟踪控制方法^*

Lateral Trajectory Tracking Control Scheme for Intelligent Vehicle Based on Extension Goodness Evaluation

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