极限工况下无人驾驶车辆稳定跟踪控制*

doi:10.19562/j.chinasae.qcgc.2020.08.004

汽车工程 ›› 2020, Vol. 42 ›› Issue (8): 1016-1026.doi: 10.19562/j.chinasae.qcgc.2020.08.004

极限工况下无人驾驶车辆稳定跟踪控制^*

陈龙¹, 解云鹏², 蔡英凤¹, 孙晓强¹, 滕成龙², 邹凯²

1.江苏大学汽车工程研究院,镇江 212000;
2.江苏大学汽车与交通工程学院,镇江 212000

收稿日期:2019-10-19 出版日期:2020-08-25 发布日期:2020-09-24
通讯作者: 蔡英凤,教授,博士,E-mail:caicaixiao0304@126.com。
基金资助:
*国家重点研发计划(2017YFB0102603,2018YFB0105003)、国家自然科学基金(51875255,61601203,61773184,U1564201,U1664258,U1764257,U1762264)、江苏省自然科学基金(BK20180100)、江苏省六大人才高峰项目(2018-TD-GDZB-022)、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)和镇江市重点研发计划(GY2017006)资助。

Stable Tracking Control of Autonomous Vehicles at Extreme Conditions

Chen Long¹, Xie Yunpeng², Cai Yingfeng¹, Sun Xiaoqiang¹, Teng Chenglong², Zou Kai²

1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212000;
2. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212000

Received:2019-10-19 Online:2020-08-25 Published:2020-09-24

摘要/Abstract

摘要： 针对无人驾驶车辆在极限工况下跟踪控制精度和稳定性均难以保障的问题,提出一种纵横向稳定性综合协调控制方法。首先对无人驾驶车辆在摩擦极限下的速度进行规划,通过纵向加速度前馈和状态反馈控制器实现极限车速下的速度跟随。其次将预瞄前馈与人工势场反馈相结合设计了横向路径跟踪控制器。提出了基于期望与实际横摆角速度偏差的稳定性控制策略,优化纵向控制的驱动力矩。Simulink/Carsim联合仿真结果表明,所提出的纵横向协调稳定控制方法可在极限工况下改善无人驾驶车辆瞬态响应,抑制道路曲率突变处的超调量,减少路径跟随中的稳态误差,提高了无人驾驶车辆的轨迹跟踪精度和弯道运动过程中的横向稳定性。

关键词: 无人驾驶车辆, 极限工况, 稳定性控制, 速度跟随, 轨迹跟踪控制

Abstract: Aiming at the difficulty in ensuring the accuracy and stability of tracking control of autonomous vehicles under extreme conditions, a comprehensive coordinated control scheme for longitudinal and lateral stability is proposed. Firstly the speed of autonomous vehicle under friction limit is planned and the speed tracking under the limit speed is achieved by means of longitudinal acceleration feedforward and state feedback controller. Then a lateral path tracking controller is designed by combining preview feedforward with artificial potential field feedback, and a stability control strategy is proposed based on the deviation of actual yaw rate from desired one, and the driving torque of longitudinal control is optimized. The results of Simulink/Carsim co-simulation show that the proposed comprehensive control scheme for longitudinal and lateral stability can improve the transient response of autonomous vehicles under extreme conditions, restrain the overshoot at the sudden change of road curvature, reduce the steady-state error in path following, and enhance the trajectory tracking accuracy and the lateral stability in the course of curve movement of autonomous vehicles.

Key words: autonomous vehicle, extreme condition, stability control, speed following, trajectory tracking control

陈龙, 解云鹏, 蔡英凤, 孙晓强, 滕成龙, 邹凯. 极限工况下无人驾驶车辆稳定跟踪控制^*[J]. 汽车工程, 2020, 42(8): 1016-1026.

Chen Long, Xie Yunpeng, Cai Yingfeng, Sun Xiaoqiang, Teng Chenglong, Zou Kai. Stable Tracking Control of Autonomous Vehicles at Extreme Conditions[J]. Automotive Engineering, 2020, 42(8): 1016-1026.

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极限工况下无人驾驶车辆稳定跟踪控制^*

Stable Tracking Control of Autonomous Vehicles at Extreme Conditions

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