考虑通信延时的智能汽车非线性路径跟踪控制

doi:10.13229/j.cnki.jdxbgxb.20241003

摘要/Abstract

摘要：

针对路径跟踪中控制器与执行器之间的通信延时、车辆系统的强非线性以及控制器的输出约束的问题，本文以智能汽车为研究对象，提出了一种考虑通信延时的非线性路径跟踪控制器，以提高汽车路径跟踪性能。首先，建立二自由度车辆模型，利用“魔术公式”建立轮胎模型，建立具有通信延时的非线性路径跟踪模型；其次，根据控制器输出约束，利用反步调节函数，设计了非线性鲁棒控制器，满足系统性能指标和鲁棒性要求；最后，分别在正弦工况与双移线工况下，通过MATLAB/Simulink进行仿真验证路径跟踪性能。结果表明：本文提出的控制器的路径跟踪在正弦工况下横向误差的均方根值较PID方法及MPC方法分别降低0.061 9和0.010 1，双移线工况下分别降低0.097 2和0.034 7；当引入干扰时，本文控制器鲁棒性优于PID及MPC。

关键词: 车辆工程, 智能汽车, 路径跟踪, 非线性系统, 通信延时

Abstract:

Aiming at the problems of communication delay between controller and actuator in path tracking， strong nonlinearity of the vehicle system， and output constraints of the controller， this paper proposes a nonlinear path tracking controller considering communication delay to improve the performance of vehicle path tracking by taking an electric vehicle as the research object. Firstly， a two-degree-of-freedom vehicle model is established， a tire model is established by using the "magic formula"， and a nonlinear path tracking model with communication delay is established； Secondly， according to the output constraints of the controller， a nonlinear robust controller is designed by using the backstepping adjustment function to meet the system performance indexes and robustness requirements； Finally， the path tracking performance is verified by simulation through MATLAB/Simulink under sinusoidal and double-shifted line conditions， respectively. The results show that： The root mean square （RMS） value of the lateral error of the path tracking of the controller proposed in this paper is reduced by 0.061 9 and 0.010 1 for sinusoidal condition and 0.097 2 and 0.034 7 for double-shift condition compared to the PID and MPC methods， respectively. The robustness of the controller in this paper is better than that of the PID and MPC methods when disturbances are introduced.

Key words: avehicle engineering, intelligent vehicle, path tracking, nonlinear system, time-delay

中图分类号:

U461.6

付尧,战椿水,刘科. 考虑通信延时的智能汽车非线性路径跟踪控制[J]. 吉林大学学报(工学版), 2026, 56(3): 851-859.

Yao FU,Chun-shui ZHAN,Ke LIU. Nonlinear path tracking control for intelligent vehicles considering communication delays[J]. Journal of Jilin University(Engineering and Technology Edition), 2026, 56(3): 851-859.

图/表 13

图1

表1

“魔术公式”参数值"

参数	数值
$a 0$	1.413
$a 1$	-23.008
$a 2$	1 010
$a 3$	1 071
$a 4$	1.790
$a 5$	0.199
$a 6$	0
$a 7$	-0.371
$a 8$	0.701
$a 9 ～ a 12$	0

表1

图2

图3

表2

车辆参数"

参数	符号	数值
质心到前轴距离/m	$l f$	1.464
质心到后轴距离/m	$l r$	1.672
整车整备质量/kg	$m$	1 528
整车绕z轴转动惯量/（kg·m²）	$I z$	4 178

表2

图4

表3

控制器参数值"

参数	数值
$λ 0$	0.899
$T$	2.5
$ξ 0$	0.8
$b 1$	10
$b 2$	-0.97
$b 3$	5
$c 1$	100（正弦）、20（双移线）
$c 2$	10

表3

图5

图6

表4

表5

控制器干扰量"

参数	数值
$φ ˙$	$± r a n d 10 % φ ˙$
$β ˙$	$± r a n d 10 % β ˙$
$v y$	$± r a n d 10 % v y$
$β$	$± r a n d 10 % β$

表5

图7

表6

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项目	本文控制器	PID	MPC
增长率/%	2.030 0	5.383 0	3.521 0
干扰前	0.344 9	0.406 8	0.355 0
干扰后	0.351 9	0.428 7	0.367 5