无人驾驶汽车变速换道轨迹跟踪动态控制

doi:10.13229/j.cnki.jdxbgxb.20230175

摘要/Abstract

摘要：

提出了一种变速换道轨迹跟踪动态控制策略，针对变速换道轨迹构建了双PID纵向速度控制器和以横向误差、横摆角速度和质心侧偏角为综合评价指标的模型预测横向控制器，该动态控制算法利用估计得到的路面附着系数和预测的车辆状态信息自动调整算法中各个评价指标的权重系数，实现轨迹跟踪精度和横向稳定性之间的动态控制。据此设计高低附着对开路面的变速换道工况，利用CarSim与Simulink联合仿真对比验证算法的有效性。仿真结果表明：本文提出的动态控制策略实现了不同路面附着系数下的权重因子动态调节，在变速换道时仍可以确保控制量平滑输出，同步提升了无人驾驶汽车轨迹跟踪控制精度和横向稳定性，具有良好的协调控制效果。

关键词: 车辆工程, 动态控制, 变速换道, 模型预测控制, 自适应工况, 纵向控制

Abstract:

A dynamic control strategy for variable speed lane change trajectory tracking was proposed. It includes a double PID longitudinal speed controller and a lateral model predictive controller using comprehensive evaluation indexes： lateral error， yaw rate， and side-slip angle. coefficients of each evaluation index based on the estimated tire-road friction coefficient and predicted vehicle status information. This allows achieving dynamic control between tracking accuracy and lateral stability. To verify the effectiveness of the algorithm， variable speed lane changing scenarios with high and low tire-road friction coefficients were designed， and CarSim and Simulink simulations were conducted. The simulation results demonstrate that the proposed dynamic control strategy realizes the dynamic adjustment of weight factors under different tire-road friction coefficients. It ensures smooth control output during lane changes， improves trajectory tracking control accuracy and lateral stability of unmanned vehicles simultaneously， and exhibits good coordination control effect.

Key words: vehicle engineering, dynamic control, variable speed lane change, model predictive control, adaptive working condition, longitudinal control

中图分类号:

U463.6

刘刚,范群,杨旭,任宏斌. 无人驾驶汽车变速换道轨迹跟踪动态控制[J]. 吉林大学学报(工学版), 2024, 54(12): 3729-3739.

Gang LIU,Qun FAN,Xu YANG,Hong-bin REN. Dynamic control for trajectory tracking of variable speed lane change in autonomous vehicles[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(12): 3729-3739.

图/表 14

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表1

车辆动力学模型参数"

参数	数值
整车质量 $m / k g$	1 413
质心与前轴间距 $l f / m$	1.015
质心与后轴间距 $l r / m$	1.895
车身绕Z轴的转动惯量 $I z / (k g ? m - 2)$	1 536.7
前轮的侧偏刚度 $C f / (N · r a d - 1)$	-148 970
后轮的侧偏刚度 $C r / (N · r a d - 1)$	-82 204
车轮有效滚动半径 $r / m$	0.347

表1

图6

图7

图8

表2

表3

表4

图9

图10

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项目	横向位移误差峰值/m	横向误差RMS/m
可拓MPC	0.28	0.08
动态控制	0.09	0.04
优化效果/%	67.9	50.0

前轮转角	可拓MPC	动态控制	优化效果/%
峰值/（°）	2.31	0.45	80.5
RMS/（°）	0.43	0.18	58.1