自动驾驶汽车高速超车轨迹跟踪协调控制

doi:10.19562/j.chinasae.qcgc.2021.07.006

Abstract

Abstract:

In high?speed overtaking of autonomous vehicles， it is necessary not only to plan a reasonable path for vehicle safety， but also to ensure the lateral stability and ride comfort of the vehicle in high?speed turning on curve. Firstly， the longitudinal speed and the lateral overtaking path are planned respectively for the three phases of overtaking， i.e. lane change， uniform speed and lane change. Then a calculation method of desired yaw rate with consideration of path curvature， lane change time， and longitudinal speed is put forward. Finally， with minimizing lateral position error， yaw rate tracking deviation and control increment as optimization objectives， and by using the correlation function of extension set to dynamically assign the weighting factors of trajectory tracking accuracy and lateral stability， an extension set?based multi?objective model predictive coordinated control strategy for autonomous vehicle trajectory tracking is established. Numerical simulation results show that the path planning method proposed can ensure the safe overtaking of vehicle， while the trajectory tracking control strategy set up can accurately track the planned path， with better lateral stability and ride comfort.

Key words: path planning, trajectory tracking, model predictive control, autonomous vehicle, high?speed overtaking

Zhiyong Zhang,Kai Long,Ronghua Du,Caixia Huang. Trajectory Tracking Coordinated Control for Autonomous Vehicle in High⁃speed Overtaking[J].Automotive Engineering, 2021, 43(7): 995-1004.

Figures/Tables 14

References 22

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P_m的位置	［-∞，P₁］	［P₁，0］	［0，P₄］	［P₄，+∞］
d_kt	\|P_mP₁\|	-\|P_mP₁\|	-\|P_mP₄\|	\|P_mP₄\|
P_m的位置	［-∞，P₂］	［P₂，0］	［0，P₃］	［P₃，+∞］
d_jd	\|P_mP₂\|	-\|P_mP₂\|	-\|P_mP₃\|	\|P_mP₃\|

参数	数值
整车质量m/kg	1 575
质心与前轴的间距l_f/m	1.2
质心与后轴的间距l_r/m	1.6
车身绕Z轴的转动惯量I_z/（kg·m^-2）	2 875
前轮的侧偏刚度C_f/（N·(°)^-1）	20 000
后轮的侧偏刚度C_r/（N·(°)^-1）	35 000

路面附着系数	控制策略	性能指标
路面附着系数	控制策略	e_y_?max/m	e_y_?rms/m	e_γ_?max/（（°）·s^-1）	e_γ_?rms/（（°）·s^-1）
μ=0.85	SMC	1.35	0.59	5.42	2.51
μ=0.85	单目标MPC	0.30	0.12	2.61	1.20
μ=0.3	SMC	9.34	6.83	11.71	4.96
	单目标MPC	0.31	0.12	4.06	1.94
	SYRE	0.53	0.18	3.20	1.28
	可拓MPC	0.41	0.11	2.48	0.95

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Trajectory Tracking Coordinated Control for Autonomous Vehicle in High⁃speed Overtaking

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