考虑侧风稳定性的汽车轨迹跟踪自适应时域模型预测控制

doi:10.19562/j.chinasae.qcgc.2024.10.010

Abstract

Abstract:

In order to extend the application scenario of model predictive control and improve the trajectory tracking accuracy of intelligent vehicles in extreme wind environment， an adaptive horizon control method considering crosswind stability is proposed. Firstly， taking the process of car overtaking on the sea-crossing bridge as the research object， the crosswind stability analysis model of car overtaking is established by using the coupling method of vehicle aerodynamics and system dynamics. Then， the safety risk model of vehicle lateral motion is established， and the adaptive horizon regulator is designed taking into consideration of lateral motion risk level， vehicle speed and lateral error， so as to realize the dynamic adjustment of prediction horizon and control horizon. Finally， CarSim and Simulink are used to build a joint simulation scenario， and the overtaking trajectory is planned by quintic polynomial to verify the tracking accuracy and robustness of the controller. The results show that compared with the fixed horizon and variable weight model predictive controller， the improved controller can better resist the aerodynamic interference of ' wind-vehicle-bridge' and improve the vehicle trajectory tracking accuracy at a lower real-time cost， with significant improvement in vehicle crosswind stability.

Key words: intelligent car, automatic driving, crosswind stability, adaptive horizon, model predictive control, trajectory tracking

Zhiqun Yuan,Yanqiang Chen,Yuxuan Chang,Diansheng Huo,Li Lin. Model Predictive Control with Adaptive Horizon for Vehicle Trajectory Tracking Considering Crosswind Stability[J].Automotive Engineering, 2024, 46(10): 1829-1841.

Figures/Tables 23

References 16

1	GUO H Y， CAO D P， CHEN H， et al. Model predictive path following control for autonomous cars considering a measurable disturbance： implementation， testing， and verification［J］. Mechanical Systems and Signal Processing， 2019， 118： 41-60.
2	KIM M， LEE D， AHN J， et al. Model predictive control method for autonomous vehicles using time-varying and non-uniformly spaced horizon［J］. IEEE Access， 2021， 9： 86475-86487.
3	周维，过学迅，裴晓飞，等. 基于RRT与MPC的智能车辆路径规划与跟踪控制研究［J］. 汽车工程， 2020， 42（9）： 1151-1158.
	ZHOU W， GUO X X， PEI X F， et al. Study on path planning and tracking control for intelligent vehicle based on RRT and MPC［J］. Automotive Engineering， 2020， 42（9）： 1151-1158.
4	关龙新，顾祖飞，张超，等. 考虑系统复杂扰动的智能车模型预测路径跟踪控制［J］. 汽车工程， 2022， 44（12）： 1844-1855.
	GUAN L X， GU Z F， ZHANG C， et al. Model predictive path following control of intelligent vehicles considering system complex disturbances［J］. Automotive Engineering， 2022， 44（12）： 1844-1855.
5	CHOI Y， LEE W， KIM J， et al. A variable-sampling time model predictive control algorithm for improving path-tracking performance of a vehicle［J］. Sensors， 2021， 21（20）： 6845.
6	李韶华，杨泽坤，王雪玮. 基于T-S模糊变权重MPC的智能车轨迹跟踪控制［J］. 机械工程学报， 2023， 59（4）： 199-212.
	LI S H， YANG Z K， WANG X W. Trajectory tracking control of an intelligent vehicles based on T-S fuzzy variable weight MPC［J］. Journal of Mechanical Engineering， 2023， 59（4）： 199-212.
7	杜荣华，胡鸿飞，高凯，等. 基于变预测时域MPC的自动驾驶汽车轨迹跟踪控制研究［J］. 机械工程学报， 2022， 58（24）： 275-288.
	DU R H， HU H F， GAO K， et al. Research on trajectory tracking control of autonomous vehicles based on MPC with variable predictive horizon［J］. Journal of Mechanical Engineering， 2022，58（24）： 275-288.
8	ZHANG B， ZONG C F， CHEN G Y， et al. An adaptive-prediction-horizon model prediction control for path tracking in a four-wheel independent control electric vehicle［J］. Proceedings of the Institution of Mechanical Engineers， Part D： Journal of Automobile Engineering， 2019， 233（12）： 3246-3262.
9	XIAO Z X， HU M H， FU C Y， et al. Model predictive trajectory tracking control of unmanned vehicles based on radial basis function neural network optimisation［J］. Proceedings of the Institution of Mechanical Engineers， Part D： Journal of Automobile Engineering， 2023， 237（2-3）： 347-361.
10	ELBANHAWI M， SIMIC M， JAZAR R. Receding horizon lateral vehicle control for pure pursuit path tracking［J］. Journal of Vibration and Control， 2018， 24（3）： 619-642.
11	TANG X Z， SHI L F， WANG B， et al. Weight adaptive path tracking control for autonomous vehicles based on PSO-BP neural network［J］. Sensors， 2023， 23（1）： 412.
12	梁宝钰，汪怡平，刘珣，等. 基于滑模理论的高速车辆侧风稳定性控制研究［J］. 汽车工程， 2022， 44（1）： 123-130.
	LIANG B Y， WANG Y P， LIU X， et al. Study on crosswind stability control of high-speed vehicle based on sliding mode theory［J］. Automotive Engineering， 2022，44（1）： 123-130.
13	JI J， KHAJEPOUR A， MELEK W W， et al. Path planning and tracking for vehicle collision avoidance based on model predictive control with multi-constraints［J］. IEEE Transactions on Vehicular Technology， 2017， 66（2）： 952-964.
14	ZHAO F Z， WU W Y， WU Y， et al. Model predictive control of soft constraints for autonomous vehicle major lane-changing behavior with time variable model［J］. IEEE Access， 2021， 9： 89514-89525.
15	HU C F， ZHAO L X. Overtaking control strategy based on model predictive control with varying horizon for unmanned ground vehicle［J］. Proceedings of the Institution of Mechanical Engineers， Part D： Journal of Automobile Engineering， 2021， 235（1）： 78-92.
16	WANG H R， WANG Q D， CHEN W W， et al. Path tracking based on model predictive control with variable predictive horizon［J］. Transactions of the Institute of Measurement and Control， 2021， 43（12）： 2676-2688.

[1]	ZHOU Wei, ZHANG Cheng-Ning, LI Jun-Qiu. [J]. , 2016, 38(12): 1407 -1414 .
[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]	SHEN Zhe, WANG Yi-Gang, YANG Zhi-Gang, LI Fang-Xu. [J]. , 2016, 38(12): 1440 -1445 .
[5]	ZHANG Yi-Bing, 吕Jian-Jun , YUAN Guang-Hui. [J]. , 2016, 38(12): 1467 -1470 .
[6]	KONG Xiang-Dong, ZHANG Zhen-Dong, XIE Nai-Liu, CHENG Qiang, YIN Cong-Bo. [J]. , 2016, 38(12): 1471 -1476 .
[7]	ZHANG Lei, ZHANG Jin-Qiu, LUO Tao, BI Zhan-Dong, YAO Jun. [J]. , 2016, 38(12): 1494 -1499 .
[8]	PENG Qian-Lei, GUI Liang-Jin, FAN Zi-Jie. [J]. , 2016, 38(12): 1500 -1507 .
[9]	LI Ling, MA Li, MOU Yu, XU Chao, LI Wen-Ru, SHI Shu-Ming. [J]. , 2016, 38(12): 1508 -1514 .
[10]	GAO Ji-Dong, GAO Bo-Lin, XIE Shu-Gang. [J]. , 2016, 38(12): 1515 -1520 .

参数	单位	数值
汽车质量m	kg	1 412
质心至前轴距离l_f	mm	1 400
质心至后轴距离l_r	mm	1 650
车身的横摆惯量I_z	kg·m²	3 528
路面摩擦因数μ		0.85

序号	主要边界条件	主超车车道
1-1	边界2：速度入口，u_x =0 m/s、u_y =-20 m/s 边界1、3和4：压力出口，p_static=0 主超车：动网格，车速v=72 km/h 其它：壁面边界	1
1-2		2
1-3		3
2-1	边界2：速度入口，u_x =0 m/s、u_y =-20 m/s 边界1、3和4：压力出口，p_static=0 主超车：动网格，车速v=108 km/h 其它：壁面边界	1
2-2		3
3-1	边界1和2：速度入口，u_x =20 m/s、u_y =-20 m/s 边界3和4：压力出口，p_static=0 主超车：动网格，相对车速Δv=36 km/h 其它：壁面边界	1
3-2		3

气动系数	工况序号
气动系数	1-1	1-2	1-3	2-1	2-2
侧向力系数C_S	-0.280	-0.166	-0.152	-0.313	-0.200
横摆力矩系数C_YM	0.182	0.069	0.058	0.143	0.050

侧偏安全风险等级	风险阈值
L_G=0	E_Z/E_Zmax<0.02
L_G=1	0.02≤E_Z/E_Zmax<0.1
L_G=2	0.1≤E_Z/E_Zmax<0.2
L_G=3	0.2≤E_Z/E_Zmax<0.3
L_G=4	0.3≤E_Z/E_Zmax<0.4
L_G=5	0.4≤E_Z/E_Zmax<0.5
L_G=6	0.5≤E_Z/E_Zmax<0.6
L_G=7	E_Z/E_Zmax≥0.6

变量	e_y	L_G	v	ΔN_P	ΔN_C
基本论域	［0， 1］	［0， 7］	［0， 120］	［-8， 8］	［-3， 3］
模糊论域	［0， 3］	［0， 7］	［0， 12］	［-8， 8］	［-3， 3］

Model Predictive Control with Adaptive Horizon for Vehicle Trajectory Tracking Considering Crosswind Stability

RichHTML

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 23

References 16

Related Articles 15

Metrics

Comments

Recommended 10

[1]	Lijun Qian,Jian Chen,Feng Zhao,Xinyu Chen,Liang Xuan. Research on Fast Stochastic Model Predictive Control-Based Eco-Driving Strategy for Connected Mixed Platoons [J]. Automotive Engineering, 2024, 46(9): 1587-1599.
[2]	Mo Han,Hongwen He,Man Shi,Wei Liu,Jianfei Cao,Jingda Wu. Research on Learning-Based Model Predictive Path Tracking Control for Autonomous Vehicles [J]. Automotive Engineering, 2024, 46(7): 1197-1207.
[3]	Guizhen Feng,Dongpeng Zhao,Shaohua Li. Research on Air Spring Modeling Based on Fractional Order and Electric Vehicle Active Suspension Control [J]. Automotive Engineering, 2024, 46(7): 1282-1293.
[4]	Liming Xiao,Fawang Zhang,Liangfa Chen,Haoqi Yan,Fei Ma,Shengbo Eben Li,Jingliang Duan. Vehicle Trajectory Tracking and Collision Avoidance Control Based on Multi-style Reinforcement Learning [J]. Automotive Engineering, 2024, 46(6): 945-955.
[5]	Shuen Zhao,Sheng Wang,Yao Leng. Multi-objective Explicit Model Predictive Control for Intelligent Vehicle Trajectory Tracking [J]. Automotive Engineering, 2024, 46(5): 784-794.
[6]	Yichao He,Shengjie Kou,He Tian,Hao Li,Yong Lu. Research on Decision-Making and Planning Method for Intelligent Highway Lane-Changing System for Mass Production [J]. Automotive Engineering, 2024, 46(3): 418-430.
[7]	Zhihao Yu,Rongkang Luo,Peibao Wu,Zhichao Hou. Chassis Coordinated Control for Lateral Stability of Four-in-Wheel-Motor-Drive Vehicles [J]. Automotive Engineering, 2024, 46(10): 1733-1743.
[8]	Tong Wu,Jing Rong,Junnian Wang,Wen Sun,Liang Chu,Linhe Ge. Dynamic Braking Allocation Strategy for Turning-Braking Maneuver [J]. Automotive Engineering, 2024, 46(10): 1755-1765.
[9]	Shaobo Lu,Lingfeng Dai,Chenhui Wang,Bingjun Liu,Zhigang Chu,Wenke Xie. Trajectory Planning and Control of Autonomous Vehicle Under Extreme Conditions Based on Autonomous Drift [J]. Automotive Engineering, 2024, 46(10): 1780-1789.
[10]	Hongmao Qin,Shu Jiang,Tiantian Zhang,Heping Xie,Yougang Bian,Yang Li. Path Tracking Control of Intelligent Vehicle Based on Learning Model Predictive Control [J]. Automotive Engineering, 2024, 46(10): 1804-1815.
[11]	Zhong Zhang,Xiaojian Wu,Huihua Jiang,Chao Zhang,Yukang Wan. Model Predictive Anti-disturbance Control for Longitudinal Motion of Intelligent Vehicles Under Multi-source Disturbances [J]. Automotive Engineering, 2024, 46(10): 1816-1828.
[12]	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.
[13]	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.
[14]	Tao Lu,Xin Jin,Yifei Liao,Shengjie Huang,Yilin Yang,Guotao Xie,Xiaohui Qin. Visual SLAM Based on Jacobian Null-space Marginalization [J]. Automotive Engineering, 2023, 45(8): 1457-1467.
[15]	Wenguang Wu,Shuangyue Tian,Zhiyong Zhang,Bin Zhang. Research on Semantic Segmentation of Uneven Features of Unpaved Road [J]. Automotive Engineering, 2023, 45(8): 1468-1478.

控制器类型	N_C	N_P
Ⅰ型	1	20
Ⅱ型	7	30
T-S FMPC	3	20