基于弧长预瞄的车辆侧向跟踪控制研究*

doi:10.19562/j.chinasae.qcgc.2019.06.009

摘要/Abstract

摘要： 为提高基于预瞄理论的路径跟踪控制算法的计算效率与适应性,本文中在预瞄最优曲率模型的基础上,提出了一种依据车辆实际行驶路程获取预瞄点侧向位移的弧长预瞄方法。并在该方法下,推导了预瞄点侧向位移与车辆前轮转角之间的关系,之后通过侧向跟踪闭环系统方框图,建立了路径跟踪的侧向控制模型。最后,在CarSim/Simulink联合仿真环境下,通过建立若干典型仿真工况,对该模型的有效性和人-车-路闭环系统转向盘稳定性影响因素进行了仿真分析。结果表明,该方法在侧向路径跟踪控制方面具有跟踪精度高、计算速度快和适应性好的特点。并且,当闭环系统同时满足期望路径点方向连续和预瞄距离大于临界前视距两个条件时转向盘趋于稳定。

关键词: 车辆, 弧长预瞄, 路径跟踪, 侧向控制, 仿真

Abstract: In order to improve the computational efficiency and adaptability of path control algorithm based on preview theory,in this paper, an arc-length preview method is proposed to obtain the lateral displacement of preview point based on actual driving distance of the car on the basis of the preview optimal curvature model. With this method, the relationship between the lateral displacement of preview point and the rotation angle of front wheel is deduced . Then the lateral control model of path tracking is established through the derivation of lateral tracking closed-loop control system block diagram. Finally, in the CarSim/Simulink co-simulation environment, the effectiveness of the model and the factors which affect the steering wheel stability of the human-vehicle-road closed-loop system under this method are simulated and analyzed by establishing several typical simulation conditions. The results show that the method has the advantages of high tracking accuracy, fast calculation speed and good adaptability in lateral path tracking control. Furthermore, the steering wheel tends to be stabilized when the closed loop system satisfieds both the conditions that the direction of desired path points has continuity and the preview distance is greater than the critical forward distance.

Key words: vehicle, arc-length preview, path tracking, lateral control, simulation

李爽, 徐延海, 陈静, 朱鹏兴. 基于弧长预瞄的车辆侧向跟踪控制研究^*[J]. 汽车工程, 2019, 41(6): 668-675.

Li Shuang, Xu Yanhai, Chen Jing, Zhu Pengxin. A Study on Vehicle Lateral Tracking Control Based on Arc-length Preview[J]. Automotive Engineering, 2019, 41(6): 668-675.

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基于弧长预瞄的车辆侧向跟踪控制研究^*

A Study on Vehicle Lateral Tracking Control Based on Arc-length Preview

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