基于参考向量场的车辆队列二维跟踪控制算法

doi:10.19562/j.chinasae.qcgc.2021.07.002

Abstract

Abstract:

When the operation scene of the vehicle platoon extends from 1D to 2D， a significant coupling effect will appear between the longitudinal spacing maintenance and lateral tracking control. In high speed conditions， the ignorance of the coupling effect will lead to large tracking error and even instability. To solve this problem， a longitudinal and lateral coupling tracking control algorithm for vehicle platoon is proposed in this paper. By constructing a reference vector field based on the longitudinal spacing and lateral reference trajectory， the desired velocity vector can be obtained， and the Hamiltonian function is used to calculate the desired total forces and total moment the upper?layer motion controller of vehicle required； Meanwhile， a pseudo?inverse matrix?based control allocation algorithm is put forward to distribute the desired total forces and total moment to each wheel under constrained physical environment， enhancing the real time performance while ensuring allocation accuracy. The results of simulation and experiment show that the longitudinal and lateral coupling tracking control algorithm proposed can effectively fulfill the movement control of vehicle platoon under 2D scenes， achieving the safe， high efficient cooperated driving of vehicle platoon.

Key words: vehicle platoon, two?dimensional scene, reference vector field, Hamilton function, tracking control algorithm

Yang Liu,Changfu Zong,Hongyu Zheng,Xiaojian Han,Dong Zhang,Kaku Chuyo. Two⁃dimensional Tracking Control Algorithm for Vehicle Platoon Based on Reference Vector Field[J].Automotive Engineering, 2021, 43(7): 962-970.

Figures/Tables 16

参数	含义	数值
N_p	MPC预测步长	50
N_c	MPC控制步长	4
T	仿真步长	0.01 s
$Q$	HRVF状态权重矩阵（对角）	10 000，10 000，30
$R$	HRVF控制权重矩阵（对角）	1，1，1
T_pre	HRVF预瞄时间	0.05 s

References 28

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控制分配算法	时间复杂性	轮胎利用率/%
控制分配算法	事后法	平均	最大
线性二次规划	1.720 56 sec/sim. sec	27.192 2	99.57
直接伪逆	1.052 62 sec/sim. sec	28.892 3	100

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Two⁃dimensional Tracking Control Algorithm for Vehicle Platoon Based on Reference Vector Field

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References 28

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跟踪控制算法	时间复杂性
跟踪控制算法	事后法
MPC	1.713 88 sec/sim. sec
HRVF	0.091 56 sec/sim. sec