汽车工程

汽车工程 ›› 2020, Vol. 42 ›› Issue (8): 1040-1049.doi: 10.19562/j.chinasae.qcgc.2020.08.007

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基于Radau伪谱法的汽车高速紧急换道避障最优控制策略设计*

张家旭1,2, 施正堂3, 赵健1, 朱冰1   

  1. 1.吉林大学,汽车仿真与控制国家重点实验室,长春 130022;
    2.中国第一汽车集团有限公司智能网联研发院,长春 130011;
    3.浙江亚太机电股份有限公司智能汽车控制系统研究院,杭州 311200
  • 收稿日期:2019-11-19 出版日期:2020-08-25 发布日期:2020-09-24
  • 通讯作者: 赵健,教授,博士生导师,E-mail:zhaojian@jlu.edu.cn。
  • 基金资助:
    *国家自然科学基金(51775235)和国家重点研发计划(2018YFB0105103)资助。

Optimal Control Strategy Design for Vehicle High-speed Emergency Lane Change Collision Avoidance Based on Radau Pseudospectral Method

Zhang Jiaxu1,2, Shi Zhengtang3, Zhao Jian1, Zhu Bing1   

  1. 1. Jilin University, State Key Laboratory of Automotive Simulation and Control, Changchun 130022;
    2. Intelligent Network R&D Institute, China FAW Group Co., Ltd., Changchun 130011;
    3. Intelligent Vehicle Control System Research Institute, Zhejiang Asia-Pacific Mechanical and Electronic Co., Ltd., Hangzhou 311200
  • Received:2019-11-19 Online:2020-08-25 Published:2020-09-24

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摘要： 针对汽车高速紧急换道避障轨迹规划与跟踪控制问题,提出一种基于Radau伪谱法的汽车高速紧急换道避障最优控制策略。首先,采用汽车运动学与动力学模型相结合的方式将汽车高速紧急换道避障轨迹规划和跟踪控制问题转换成汽车高速紧急换道避障最优控制问题,再通过Radau伪谱法将其转化为非线性规划问题,从而直接得到汽车高速紧急换道避障轨迹规划和跟踪控制问题的最优解,即:目标轮胎纵向滑移率和目标前轮转向角速度。随后,采用离散滑模变结构控制理论设计了对参数摄动和外界干扰具有强鲁棒性的车轮滑移率自适应滑模跟踪控制律,实现目标轮胎纵向滑移率的跟踪控制。最后,基于高精度的车辆动力学软件构建模型在环仿真系统,验证所提控制策略的可行性和有效性。

关键词: 高速紧急换道避障, 轨迹规划与跟踪控制, Radau伪谱法, 离散滑模变结构控制

Abstract: An optimal control strategy for vehicle high-speed emergency lane change collision avoidance is proposed based on Radau pseudospectral method for solving the problem of trajectory planning and tracking control for vehicle high-speed emergency lane change collision avoidance. Firstly, the problem of trajectory planning and tracking control for vehicle high-speed emergency lane change collision avoidance is transformed into an optimal control problem of vehicle high-speed emergency lane change collision avoidance based on the combination of vehicle kinematics and kinetics model, which is then transformed again into a nonlinear programming problem by Radau pseudospectral method, and hence the optimum solution for the problem of trajectory planning and tracking control for vehicle high-speed emergency lane changing collision avoidance can be directly obtained: the desired longitudinal slip rates of tires and the desired steering angular speed of front wheels. Then, an adaptive sliding mode tracking control law of wheel slip rate, which has strong robustness for parameter perturbation and external interference, is devised based on discrete sliding mode variable structure control theory to achieve the tracking control of the desired longitudinal slip rates of tires. Finally, a model-in-the loop simulation system is built based on high-accuracy vehicle dynamics software to verify the feasibility and effectiveness of the control strategy proposed.

Key words: high-speed emergency lane change collision avoidance, trajectory planning and tracking control, Radau pseudospectral method, discrete sliding mode variable structure control