智能车辆路径跟踪横纵向耦合实时预测控制器

doi:10.13229/j.cnki.jdxbgxb20210470

摘要/Abstract

摘要：

为解决高速工况下低附着系数路面上智能车辆路径稳定跟踪控制问题，提出了基于非线性模型预测控制的车辆路径跟踪横纵向耦合集成控制器，并实现了实时控制。首先，根据期望的路径信息计算出期望的车辆横向速度。然后，将实际横、纵向车辆速度与期望速度的误差设为目标函数，同时考虑执行机构约束，设计了非线性模型预测控制器，优化求解出前轮转角和前、后轮驱动力，实现了车辆路径稳定跟踪控制。为了提高控制器的实时性，将非线性规划问题转换成代数方程组求解，采用并行牛顿方法进行方程组求解，通过解耦预测时域间方程组的耦合关系，降低优化问题的计算复杂度。最后，在双移线工况下进行控制器的仿真实验和硬件在环实验，实验结果验证了本文所设计控制器的有效性，可实现车辆路径跟踪的实时控制。

关键词: 自动控制技术, 车辆路径跟踪, 横纵向耦合, 非线性预测控制器, 实时控制

Abstract:

In order to solve the intelligent vehicle path stability tracking control problem on high-speed road with low surface adhesion coefficient, a lateral and longitudinal coupling integrated controller based on nonlinear model predictive control is proposed in this paper, and the real-time control is realized. First of all, the desired vehicle lateral velocity is calculated according to the desired path information. Second, the objective function is designed as the errors of the differences between actual lateral and longitudinal vehicle speeds and the desired speeds. Third, considering the actuator constraints, a nonlinear model predictive controller is designed and the optimal solutions of the front wheel angle and the driving force are obtained to realize the vehicle path stability tracking control. Fourth, in order to improve the real-time performance of the controller, the nonlinear programming problem is transformed into algebraic equations, and the parallel Newton method is used to solve the equations. Finally, through decoupling the coupling relationship of the equations between time domains, the computational complexity of the optimization problem is reduced.The simulation experiment of the controller and the hardware-in-the-loop experiment are carried out under the double line shifting condition. The experimental results verify the effectiveness of the controller designed in this paper, and realize the real-time control of vehicle path tracking.

Key words: automatic control technology, vehicle path tracking, lateral and longitudinal coupling, nonlinear predictive controller, real-time control

中图分类号:

TP273

许芳,张君明,胡云峰,曲婷,曲逸,刘奇芳. 智能车辆路径跟踪横纵向耦合实时预测控制器[J]. 吉林大学学报(工学版), 2021, 51(6): 2287-2294.

Fang XU,Jun-ming ZHANG,Yun-feng HU,Ting QU,Yi QU,Qi-fang LIU. Lateral and longitudinal coupling real⁃time predictive controller for intelligent vehicle path tracking[J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 2287-2294.

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