基于NMPC的智能汽车纵横向综合轨迹跟踪控制

doi:10.19562/j.chinasae.qcgc.2021.02.001

Abstract

Abstract:

Aiming at the lowering of the trajectory tracking accuracy and stability caused by the coupling of longitudinal and lateral dynamic characteristics and the dynamic constraints of intelligent vehicles under large?curvature turning conditions， a longitudinal and lateral comprehensive trajectory tracking control method based on nonlinear model predictive control （NMPC） is proposed in this paper. Through the effective combination of NMPC and barrier （function） method （BM）， the tracking accuracy and driving stability are improved. Firstly， a dynamics model for a four?wheel drive and front wheel steering vehicle and its trajectory tracking model are established and the NMPC is adopted to calculate the desired longitudinal force， lateral force and yaw moment. Then a nonlinear programming mathematical model with constraints is constructed based on tire dynamics model and the BM is used to solve out the optimal distribution of the tire forces of four?wheels， and finally the longitudinal and lateral comprehensive trajectory tracking control for a four?wheel drive intelligent vehicle is achieved. In the end， a Carsim and Simulink joint simulation is conducted with a result showing that compared with the traditional preview PID control， the method proposed can significantly improve the tracking accuracy and driving stability with consideration of the coupling between longitudinal and lateral dynamics characteristics.

Key words: intelligent vehicles, trajectory tracking, nonlinear model predictive control, barrier method

Long Chen,Kai Zou,Yingfeng Cai,Chenglong Teng,Xiaoqiang Sun,Hai Wang. Longitudinal and Lateral Comprehensive Trajectory Tracking Control of Intelligent Vehicles Based on NMPC[J].Automotive Engineering, 2021, 43(2): 153-161.

Figures/Tables 19

参数	数值
预测时域 $N p$	10
控制时域 $N c$	5
采样时间 $T$ /s	0.05
平衡因子 $W m$	0.85
控制量权重 $R$	10⁶·diag[1　1　W_m]
控制增量权重 $P$	10⁶·diag[1　1　W_m]
输出量权重 $Q$	diag[10⁸　10⁷　10⁴]
松弛因子权重 $ρ$	10⁵

References 26

1	黄岩，吴军，刘春明. 自主车辆发展概况及关键技术［J］. 兵工自动化，2010，29（11）：8-13，26.
	HUANG Yan， WU Jun， LIU Chunming， et al. Overview and key technologies of autonomous vehicles［J］. Ordnance Industry Automation， 2010，29（11）：8-13，26.
2	郭景华，李克强，罗禹贡. 智能车辆运动控制研究综述［J］. 汽车安全与节能学报， 2016， 7（2）：151-159.
	GUO Jinghua， LI Keqiang， LUO Yugong. Review on the research of motion control for intelligent vehicles［J］. Journal of Automotive Safety and Engergy， 2016，7（2）：151-159.
3	HU C， WANG R R， YAN F J. Output constraint control on path following of four⁃wheel independently actuated autonomous ground vehicles ［J］. IEEE Transactions on Vehicular Technology， 2016， 65（6）：4033-4043.
4	KAYACAN E， RAMON H， SAEYS W. Robust trajectory tracking error model-based predictive control for unmanned ground vehicles ［J］. IEEE/ASME Transactions on Mechatronics， 2016， 21（2）：806-814.
5	王家恩，陈无畏，王檀彬，等. 基于期望横摆角速度的视觉导航智能车辆横向控制［J］. 机械工程学报， 2012， 48（4）：108-115.
	WANG Jiaen， CHEN Wuwei， WANG Tanbin， et al. Vision guided intelligent vehicle lateral control based on desired yaw rate［J］. Journal of Mechanical Engineering， 2012，48（4）：108-115.
6	陈涛，陈东. 基于神经网络滑模的智能车辆横向控制［J］. 传感器与微系统， 2017， 36（5）：63-37.
	CHEN Tao， CHEN Dong. Lateral control of intelligent vehicle based on neural networks sliding mode［J］. Transducer and Microsystem Technologies，2017，36（5）：63-37.
7	SURYANARAYANNAN S. Fault torlerant control and its application to lane-keeping control of automated vehicles［D］. California： University of California at Berkeley， 2002：55-60.
8	TAGNE G， TALJ R， CHARARA A. Design and comparison of robust nonlinear controllers for the lateral dynamics of intelligent vehicles［J］. IEEE Transactions on Intelligent Transportation Systems， 2016， 17（3）： 796-809.
9	HAYAKAWA Y，WHITE R，KIMURA T， et al. Driver-compatible steering system for wide speed-range path following［J］. IEEE/ASME. Transactions on Mechatronics， 2004， 9（3）：544-552.
10	韩京清. 自抗扰控制技术——估计补偿不确定因素的控制技术［M］. 北京：国防工业出版社， 2013：30-32.
	HAN Jingqing. Active distuibance rejection control technique-the technique for estimating and compensating the uncertainties［M］. Beijing： National Defense Industry Press， 2013：30-32.
11	王凯，刘彦琳，李印祥. 基于模型预测的横摆和侧向稳定性控制［J］. 北京汽车， 2018（4）： 13-16.
12	FRANCESCO B， PAOLO F. MPC-based approach to active steering for autonomous vehicle systems［J］. International Journal on Vehicle Autonomous Systems， 2005， 3（2-4）： 265-291.
13	PAOLO F， FRANCESCO B， et al. Predictive active steering control for autonomous vehicle systems［J］. IEEE. Transaction on Control Systems Technology， 2007，15（3）：566-580.
14	CHEN T ， XU X ， CHEN L ， et al. Estimation of longitudinal force， lateral vehicle speed and yaw rate for four-wheel independent driven electric vehicles［J］. Mechanical Systems and Signal Processing， 2018， 101：377-388.
15	CHEN T ， XU X ， LI Y ， et al. Speed-dependent coordinated control of differential and assisted steering for in-wheel motor driven electric vehicles［J］. Proceedings of the Institution of Mechanical Engineers， Part D： Journal of Automobile Engineering， 2017：095440701772818.
16	徐兴，陈特，陈龙，等. 基于改进闭环子空间辨识的电动轮汽车纵向力估计［J］. 江苏大学学报（自然科学版）， 2016， 37（6）：650-656.
	XU Xing， CHEN Te， CHEN Long， et al. Longitudinal force estimation for motorized wheels driving electric vehicle based on improved closed-loop subspace identification［J］. Journal of Jiangsu University（Natural Science Edition），2016， 37（6）：650-656.
17	GUO Jinghua， LUO Yugong， LI Keqiang， et al. Coordinated path-following and direct yaw-moment control of autonomous electric vehicles with sideslip angle estimation［J］. Mechanical Systems & Signal Processing， 2018，105：183-199.
18	陈特，陈龙，徐兴，等. 分布式驱动无人车路径跟踪与稳定性协调控制［J］. 汽车工程， 2019，41（10）：1109-1116.
	CHEN Te， CHEN Long， XU Xing， et al. Integrated control of unmanned distributed driven vehicles path tracking and stability［J］. Automotive Engineering， 2019，41（10）：1109-1116.
19	SONG P， ZONG C， TOMIZUKA M. Combined longitudinal and lateral control for automated lane guidance of full drive-by-wire vehicles［C］. SAE Paper 2015-01-0321.
20	ZHOU H ， JIA F ， JING H ， et al. Coordinated longitudinal and lateral motion control for four wheel independent motor-drive electric vehicle［J］. IEEE Transactions on Vehicular Technology， 2018：1.
21	徐兴，卢山峰，陈龙，等. 基于差动和自主转向协调的分布式驱动无人车轨迹跟踪［J］. 汽车工程， 2018， 40（4）：104-110.
	XU Xing， LU Shanfeng， CHEN Long， et al. Trajectory tracking of distributed-drive self-driving vehicle based on coordination between autonomous steering and differential steering［J］. Automotive Engineering， 2018，40（4）：104-110.
22	龚建伟，姜岩，徐威. 无人驾驶车辆模型预测控制［M］. 北京：北京理工大学出版社，2014：45-59.
	GONG Jianwei， JIANG Yan， XU Wei. Model predictive control for self-driving vehicles［M］. Beijing： Beijing Institute of Techno⁃logy Press， 2014：45-59.
23	HATTORI Y ， ONO E ， HOSOE S. Optimum vehicle trajectory control for obstacle avoidance problem［J］. IEEE/ASME Transactions on Mechatronics， 2006， 11（5）：507-512.
24	LI Changgang， HU Junjie， YANG Yaping. 4WD+4WS VSC system modeling based on burckhardt tire model［J］. Journal of Zhejiang Wanli University， 2012（3）：73-81.
25	RAJESH R. Vehicle dynamics and control［M］. 2nd ed. Springer， 2012：19-21.
26	BOYD S ， VANDENBERGHE.Convex optimization［M］. New York： Cambridge University Press， 2004.

[1]	SHEN Zhe, WANG Yi-Gang, YANG Zhi-Gang, LI Fang-Xu. [J]. , 2016, 38(12): 1440 -1445 .
[2]	ZENG Bi-Qiang, GAO Ji-Dong, PENG Wei, SUN Zhen-Dong. [J]. , 2016, 38(12): 1446 -1451 .
[3]	LIU Hui, WANG Xiao-Jie, XIANG Chang-Le. [J]. , 2016, 38(12): 1483 -1487 .
[4]	CHEN Wu-Wei, DENG Shu-Chao, HUANG He, XIE You-Hao. [J]. , 2016, 38(12): 1488 -1493 .
[5]	PENG Qian-Lei, GUI Liang-Jin, FAN Zi-Jie. [J]. , 2016, 38(12): 1500 -1507 .
[6]	DONG Zhu-Rong, ZHANG Xin, HU Song-Hua, QIU Hao. [J]. , 2017, 39(1): 79 -85 .
[7]	SHI Hai-Min, YU Xiao-Li, LU Guo-Dong, HUANG Yu-Qi, LIU Zhen-Tao, HUANG Rui. [J]. , 2017, 39(1): 102 -106 .
[8]	QIN Chao-Ju, YANG Zhen-Zhong, ZHANG Wei-Zheng, SONG Li-Ye, YUAN Yan-Peng. [J]. , 2017, 39(2): 133 -137 .
[9]	ZHANG Guan-Jun, ZHAO Xin-Feng, CAO Li-Bo. [J]. , 2017, 39(2): 150 -158 .
[10]	CAO Li-Bo, HU Yuan, YAN Ling-Bo, PENG Yu, SHI Xiang-南. [J]. , 2017, 39(2): 174 -180 .

参数	数值
车辆质量m/kg	1 723
绕Z轴转动惯量I_z/(kg·m²)	4 175
轴距a,b/m	1.232, 1.468
轮距d_f, d_r/m	1.85, 1.85
车辆原始点坐标	(0,0)

[1]	Jianping Hao,Yanzhao Su,Zhihua Zhong,Jin Huang. Service-Oriented Architecture and Service Scheduling Mechanism for Intelligent Vehicles [J]. Automotive Engineering, 2023, 45(9): 1563-1572.
[2]	Gaoshi Zhao,Long Chen,Yingfeng Cai,Yubo Lian,Hai Wang,Qingchao Liu,Chenglong Teng. Trajectory Prediction Technology Integrating Complex Network and Memory-Augmented Network [J]. Automotive Engineering, 2023, 45(9): 1608-1616.
[3]	Qihui Hu,Yingfeng Cai,Hai Wang,Long Chen,Zhaozhi Dong,Qingchao Liu. Heterogeneous Multi-object Trajectory Prediction Method Based on Hierarchical Graph Attention [J]. Automotive Engineering, 2023, 45(8): 1448-1456.
[4]	Shiju Pan, Jianshi Li, Hua Li, Jingtao Lou, Youchun Xu. Path Following Method of Intelligent Vehicles Based on Feedback Pure Tracking Method [J]. Automotive Engineering, 2023, 45(7): 1134-1144.
[5]	Jun Li, Wei Zhou, Shuang Tang. Lane Change and Obstacle Avoidance Trajectory Planning of Intelligent Vehicle Based on Adaptive Fitting [J]. Automotive Engineering, 2023, 45(7): 1174-1183.
[6]	Yunfei Zha,Lü Xiaolong,Huiqin Chen,Yingchun Yi,Yanyan Wang. Vehicle Trajectory Tracking Control Based on Road Adhesion Coefficient Estimation [J]. Automotive Engineering, 2023, 45(6): 1010-1021.
[7]	Yinghong Yu,Li Huang,Yinong Li,Ling Zheng,Jia Zhou,Yixiao Liang. Research on Emergency Trajectory Tracking Control Based on Dynamics Decoupling [J]. Automotive Engineering, 2023, 45(6): 997-1009.
[8]	Zixian Li,Shiju Pan,Yuan Zhu,Binbing He,Youchun Xu. Semi-active Suspension Control for Intelligent Vehicles Based on State Feedback and Preview Feedforward [J]. Automotive Engineering, 2023, 45(5): 735-745.
[9]	Bin Zhang,Yuan Zou,Xudong Zhang,Fengchun Sun,Zhe Wu,Yihao Meng. Research on Trajectory Tracking Control of Hybrid Tracked Unmanned Platform [J]. Automotive Engineering, 2023, 45(4): 579-587.
[10]	Qin Li,Jianming Tang,Boyuan Zhang,Yong Chen,Yong Wang. Research on Fault-Tolerant Control of Multi-Actuator for Distributed Drive Electric Vehicles [J]. Automotive Engineering, 2023, 45(12): 2251-2259.
[11]	Shiju Pan,Yongle Li,Zixian Li,Binbing He,Yuan Zhu,Youchun Xu. Path Following Method of Intelligent Vehicles Based on Improved Pure Tracking [J]. Automotive Engineering, 2023, 45(1): 1-8.
[12]	Wenbo Shao,Jun Li,Yuxin Zhang,Hong Wang. Key Technologies to Ensure the Safety of the Intended Functionality for Intelligent Vehicles [J]. Automotive Engineering, 2022, 44(9): 1289-1304.
[13]	Zihao Wang,Yingfeng Cai,Hai Wang,Long Chen,Xiaoxia Xiong. Surrounding Multi-Target Trajectory Prediction Method Based on Monocular Visual Motion Estimation [J]. Automotive Engineering, 2022, 44(9): 1318-1326.
[14]	Zewu Deng,Zhaozheng Hu,Zhe Zhou, LiuYulin,Chao Peng. Intelligent Vehicle Positioning by Fusing LiDAR and Double-layer Map Model [J]. Automotive Engineering, 2022, 44(7): 1018-1026.
[15]	Daofei Li,Anfei Zha,Biao Xu,Jiajie Zhang. Trajectory Tracking Control Algorithm of Emergency Collision Avoidance for Tractor Semi-trailer Combination [J]. Automotive Engineering, 2022, 44(7): 1098-1106.

Longitudinal and Lateral Comprehensive Trajectory Tracking Control of Intelligent Vehicles Based on NMPC

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 19

References 26

Related Articles 15

Metrics

Comments

Recommended 10