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

Abstract

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

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

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