复杂路况下无人驾驶路径跟踪模型预测控制研究

doi:10.19562/j.chinasae.qcgc.2022.05.003

Abstract

Abstract:

To improve the path tracking accuracy， driving stability and safety of autonomous vehicle under complex road conditions of right angle turn， continuous curve and arc curve， an improved model predictive control （MPC） algorithm is proposed. The salient feature of the improved MPC is that the maximum longitudinal speed of vehicle without sliding on the flat road is determined by the curvature of the travel path， that is， the longitudinal speed of the vehicle is not assumed to be constant. Based on model predictive control， the vehicle kinematics model is established. Speed and front wheel angle are set as constraints. And position deviation and control increment are designed as the objective function to obtain the optimal front wheel angle and driving speed. Finally， with the experimental platform and test site provided by a new energy vehicle company， the path tracking effect of the improved MPC under complex road conditions and the model predictive control algorithm with constant longitudinal speed is compared and analyzed. The experimental results verify the effectiveness and superiority of the improved MPC， and indicate that the accuracy of the path tracking， the driving stability and the safety of vehicle are guaranteed.

Key words: autonomous vehicle, path tracking, model predictive control, complex road condition

Jun Li,Wenxing Wan,Sanqiang Hao,Wu Qin,Feifei Liu. Research on Model Predictive Control of Autonomous Vehicle Path Tracking Under Complex Road Condition[J].Automotive Engineering, 2022, 44(5): 664-674.

Figures/Tables 10

References 24

1	JI X W， LIU Y L， HE X K， et al. Interactive control paradigm-based robust lateral stability controller design for autonomous automobile path tracking with uncertain disturbance： a dynamic game approach［J］. IEEE Transactions on Vehicular Technology， 2018， 67（8）： 6906-6920.
2	LI L， LI J， ZHANG S. Review article： state-of-the-art trajectory tracking of autonomous vehicles［J］. Mechanical Sciences， 2021， 12（1）： 419-432.
3	于向军，槐元辉，姚宗伟，等. 工程车辆无人驾驶关键技术［J］. 吉林大学学报（工学版）， 2021， 51（4）： 1153-1168.
	YU X J， HUAI Y H， YAO Z W， et al. Key technologies of autonomous vehicle for engineering［J］. Journal of Jilin University （Engineering and Technology Edition）， 2021， 51（4）： 1153-1168.
4	熊璐，杨兴，卓桂荣，等. 无人驾驶车辆的运动控制发展现状综述［J］. 机械工程学报， 2020， 56（10）： 127-143.
	XIONG L， YANG X， ZHUO G R， et al. Review on motion control of autonomous vehicles［J］. Chinese Journal of Mechanical Engineering， 2020， 56（10）： 127-143.
5	MARINO R， SCALZI S， NETTO M. Nested PID steering control for lane keeping in autonomous vehicles［J］. Control Engineering Practice， 2011， 19（12）： 1459-1467.
6	WANG S， YIN X， LI P， et al. Trajectory tracking control for mobile robots using reinforcement learning and PID［J］. Iranian Journal of Science and Technology， Transactions of Electrical Engineering， 2020， 44（3）： 1059-1068.
7	赵治国，周良杰，朱强. 无人驾驶车辆路径跟踪控制预瞄距离自适应优化［J］. 机械工程学报， 2018， 54（24）： 180-187.
	ZHAO Z G， ZHOU L J， ZHU Q.Preview distance adaptive optimization for the path tracking control of unmanned vehicle［J］. Chinese Journal of Mechanical Engineering， 2018， 54（24）： 180-187.
8	LEE K， JEON S， KIM H， et al. Optimal path tracking control of autonomous vehicle： adaptive full-state linear quadratic gaussian （LQG） control［J］. IEEE Access， 2019， 7： 109120-109133.
9	张家旭，施正堂，赵健，等. 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［J］. 汽车工程， 2020， 42（8）： 1040-1049.
	ZHANG J X， SHI Z T， ZHAO J， et al. Optimal control strategy design for vehicle high-speed emergency lane change collision avoidance based on radau pseudospectral method［J］. Automotive Engineering， 2020， 42（8）： 1040-1049.
10	隋振，姜源. 基于MIMO类脑情感学习回路的横-纵向综合控制驾驶员模型［J］. 吉林大学学报（工学版）， 2020， 50（1）： 140-146.
	SUI Z， JIANG Y. Driver model based on transverse and longitudinal control of MIMO brain-like emotional learning circuits［J］. Journal of Jilin University （Engineering and Technology Edition）， 2020， 50（1）： 140-146.
11	OSTAFEW C J， SCHOELLIG A P， BARFOOT T D， et al. Learning-based nonlinear model predictive control to improve vision-based mobile robot path tracking［J］. Journal of Field Robotics， 2016， 33（1）： 133-152.
12	李爽，徐延海，陈静，等. 基于弧长预瞄的车辆侧向跟踪控制研究［J］. 汽车工程， 2019， 41（6）： 668-675.
	LI S， XU Y H， CHEN J， et al. A study on vehicle lateral tracking control based on arc-length preview［J］. Automotive Engineering， 2019， 41（6）： 668-675.
13	狄桓宇，张亚辉，王博，等. 自动驾驶横向控制模型及方法研究综述［J］. 重庆理工大学学报（自然科学）， 2021， 35（7）： 71-81.
	DI H Y， ZHANG Y H， WANG B， et al. Review on the methd and model of intelligent vehicle lateral control［J］. Journal of Chongqing University of Technology （Natural Science）， 2021， 35（7）： 71-81.
14	陈龙，邹凯，蔡英凤，等. 基于NMPC的智能汽车纵横向综合轨迹跟踪控制［J］. 汽车工程， 2021， 43（2）： 153-161.
	CHEN L， ZOU K， CAI Y F， et al. Longitudial and lateral comprehensive trajectory control of intelligent vehicles based on NMPC［J］. Automotive Engineering， 2021， 43（2）： 153-161.
15	BORRELLI F， FALCONE P， KEVICZKY T. MPC-based approach to active steering for autonomous vehicle systems［J］. International Journal of Vehicle Autonomous Systems， 2005， 3（2）： 265-291.
16	张维刚，张朋，韦昊，等. 一种基于LTVMPC改进的无人驾驶汽车路径跟踪控制算法［J］.湖南大学学报（自然科学版）， 2021，48（10）： 67-73.
	ZHANG W G， ZHANG P， WEI H， et al. An improved path control algorithm for autonomous vehicle based on LTVMPC［J］. Journal of Hunan University （Natural Science Edition）， 2021， 48（10）： 67-73.
17	吴施鹏，刘冉冉，颜海彬，等.基于模型预测的无人车路径跟踪优化控制［J］. 重庆理工大学学报（自然科学）， 2020， 34（12）： 36-44.
	WU S P， LIU R R， YAN H B， et al. Optimal control of unmanned vehicle path tracking based on model prediction［J］. Journal of Chongqing University of Technology （Natural Science）， 2020， 34（12）： 36-44.
18	XIE J， XU X， WANG F， et al. Coordinated control based path following of distributed drive autonomous electric vehicles with yaw-moment control-Science direct［J］. Control Engineering Practice. 2020， 106： 104659.
19	CHEN S P， XIONG G M， CHEN H Y， et al. MPC-based path tracking with PID speed control for high-speed autonomous vehicles considering time-optimal travel ［J］. Journal of Central South University， 2020， 27（12）： 3702-3720.
20	POMERLEAU D A， EVERSON J. Run-off-road collision avoidance countermeasures using IVHS countermeasures［M］. Washington， DC： Nation Highway Traffic Safety Administration， 1999.
21	TANELLI M， PIRODDI L， SAVARESI S M. Real-time identification of tire-road friction conditions［J］.IET Control Theory & Application， 2009， 3（7）： 891-906.
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.
	GONG J W， JIANG Y， XU W. Model predictive control of self-driving vehicles［M］. Beijing：Beijing Institute of Technology Press， 2014.
23	石贞洪，江洪，于文浩，等.适用于路径跟踪控制的自适应MPC算法研究［J］.计算机工程与应用， 2020， 56 （21）： 266-271.
	SHI Z H， JIANG H， YU W H， et al. Research on adaptive MPC algorithm for path tracking control［J］. Computer Engineering and Applications， 2020， 56 （21）： 266-271.
24	白国星，孟宇，刘立，等. 基于可变预测时域及速度的车辆路径跟踪控制［J］. 中国机械工程， 2020， 31（11）： 1277-1284.
	BAI G X， MENG Y， LIU L， et al. Path tracking control of vehicles based on variable prediction horizon and velocity［J］. China Mechanical Engineering， 2020， 31（11）： 1277-1284.

[1]	LI Huan, HUANG Ying, ZHANG Fu-Jun, ZHAO Yu, GE Yan-Wu. [J]. , 2016, 38(12): 1420 -1426 .
[2]	HAO Han, WANG Si-南, LI Xiao, LIU Zong-Wei, ZHAO Fu-Quan. [J]. , 2017, 39(1): 1 -8 .
[3]	XU Cheng-Shan, JIANG Fa-Chao, SONG Sen-Nan, TIAN Guang-Yu. [J]. , 2017, 39(1): 9 -14 .
[4]	JIANG Ting, DAI Bing. [J]. , 2016, 38(12): 1459 -1466 .
[5]	ZHANG Yi-Bing, 吕Jian-Jun , YUAN Guang-Hui. [J]. , 2016, 38(12): 1467 -1470 .
[6]	ZHANG Lei, ZHANG Jin-Qiu, LUO Tao, BI Zhan-Dong, YAO Jun. [J]. , 2016, 38(12): 1494 -1499 .
[7]	CUI An, LI Bin, WANG Xue-Liang, ZHANG Shi-Zhan. [J]. , 2016, 38(12): 1521 -1525 .
[8]	CHU Liang, ZHAO Di, LI Wen-Hui. [J]. , 2017, 39(1): 61 -65 .
[9]	FENG Chong, ZHANG Dong-Hao, LUO Yu-Gong, LI Ke-Qiang. [J]. , 2017, 39(1): 66 -72 .
[10]	HAN Xiao-Mei, LIN Xue-Dong, LI De-Gang. [J]. , 2017, 39(1): 23 -27 .

[1]	Xinke Fu,Yingfeng Cai,Long Chen,Hai Wang,Qingchao Liu. Decision-Making for Autonomous Driving in Uncertain Environment [J]. Automotive Engineering, 2024, 46(2): 211-221.
[2]	Yougang Bian,Tiantian Zhang,Heping Xie,Hongmao Qin,Zeyu Yang. Anti-disturbance and Anti-corner-cutting Control for Collaborative Path Tracking of Vehicle Platoon [J]. Automotive Engineering, 2023, 45(8): 1320-1332.
[3]	Ming Wang,Xiaolin Tang,Kai Yang,Guofa Li,Xiaosong Hu. A Motion Planning Method for Autonomous Vehicles Considering Prediction Risk [J]. Automotive Engineering, 2023, 45(8): 1362-1372.
[4]	Feng Gao,Defu Feng,Qiuxia Hu. Accelerating Technologies of Numerical Optimization for Motion Planning Designed by Nonlinear Model Predictive Control [J]. Automotive Engineering, 2023, 45(8): 1438-1447.
[5]	Cheng Lin, Bowen Wang, Lü Peiyuan, Xinle Gong, Xiao Yu. Research on Motion Planning and Cooperative Control for Autonomous Vehicles with Lane Change Gaming Maneuvers Under the Curved Road [J]. Automotive Engineering, 2023, 45(7): 1099-1111.
[6]	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.
[7]	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.
[8]	Yilin He,Jian Ma,Shukai Yang,Wei Zheng,Qifan Xue. Research on Stability Model Predictive Control of Intelligent Electric Vehicle with Preview Characteristics [J]. Automotive Engineering, 2023, 45(5): 719-734.
[9]	Yanyan Chen,Hai Wang,Yingfeng Cai,Long Chen,Yicheng Li. Efficient Automatic Driving Instance Segmentation Method Based on Detection [J]. Automotive Engineering, 2023, 45(4): 541-550.
[10]	Bing Zhou,Jiabao Wei,Tian Chai,Xiaojian Wu,He Wang. Control Strategy of Assistant Driving for Post-impact Based on Optimal Method [J]. Automotive Engineering, 2023, 45(4): 561-571.
[11]	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.
[12]	Ziwei Zhang,Ling Zheng,Yinong Li,Xuqiang Qiao,Hao Zheng,Kan Wang. A Multi-objective Adaptive Cruise Control Strategy for Autonomous Vehicle Considering Uncertain Movements of Preceding Vehicle [J]. Automotive Engineering, 2023, 45(3): 361-371.
[13]	Xinrong Zhang,Yuhang Tan,Yifan Jia,Jin Huang,Quanning Xu. Robust Control of Path Tracking for Four-Wheel Independent Drive Electric Vehicles [J]. Automotive Engineering, 2023, 45(2): 253-262.
[14]	Lin He,Ziang Xu,Chunrong Huang,Chao Gong,Shuhua Li,Qin Shi. Research on Sliding Mode Control Algorithm for Angle Tracking Prediction of Steer-by-wire System [J]. Automotive Engineering, 2023, 45(12): 2200-2208.
[15]	Lü Ying,Xu Qi,Qiuzheng Liu,Xinyu Wang,Guoying Chen. Path Tracking Control Method with Steering Lag for Autonomous Vehicles [J]. Automotive Engineering, 2023, 45(12): 2234-2241.

Research on Model Predictive Control of Autonomous Vehicle Path Tracking Under Complex Road Condition

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 10

References 24

Related Articles 15

Metrics

Comments

Recommended 10