基于反演法的智能车辆弯路换道轨迹跟踪控制

吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (02): 323-328.

基于反演法的智能车辆弯路换道轨迹跟踪控制

郭烈¹, 黄晓慧¹, 葛平淑², 张广西¹, 岳明¹

1. 大连理工大学工业装备结构分析国家重点实验室, 辽宁大连 116024;
2. 大连民族学院机电信息工程学院, 辽宁大连 116605

收稿日期:2012-02-16 出版日期:2013-03-01 发布日期:2013-03-01
通讯作者: 葛平淑(1983-),女,讲师.研究方向:智能控制.E-mail:gepingshu2006@163.com E-mail:gepingshu2006@163.com
作者简介:郭烈(1978-),男,副教授.研究方向:智能车辆.E-mail:guolie@163.com
基金资助:
国家自然科学基金项目(61104165,61175101);辽宁省自然科学基金项目(20102026);中央高校基本科研业务费专项基金项目(DUT12JR08).

Lane changing trajectory tracking control for intelligent vehicle on curved road based on backstepping

GUO Lie¹, HUANG Xiao-hui¹, GE Ping-shu², ZHANG Guang-xi¹, YUE Ming¹

1. State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian 116024, China;
2. College of Electromechanical & Information Engineering, Dalian Nationalities University, Dalian 116605, China

Received:2012-02-16 Online:2013-03-01 Published:2013-03-01

摘要/Abstract

摘要： 基于车辆的运动学模型,研究了具有非完整约束特性的智能车辆弯路换道的轨迹跟踪控制问题。结合弯曲车道的曲率半径,针对换道过程中车辆横向运动和纵向运动对换道轨迹的耦合作用,提出了一种适用于弯道的换道轨迹规划方法。根据换道轨迹,利用积分反演法,引入中间虚拟控制量,设计了轨迹跟踪控制算法,并用Lyapunov稳定性理论证明了控制系统的稳定性。仿真结果表明:该控制器可以保证车辆在弯路换道的轨迹跟踪误差一致有界收敛,且具有快速、准确跟踪和全局稳定的特性。

关键词: 交通运输安全工程, 智能车辆, 车辆换道, 轨迹跟踪, 积分反演法

Abstract: The trajectory tracking control was studied for the lane changing of the intelligent vehicle with non-holonomic constraint feature on curved road based on the kinematics model of the vehicle. Considering the cuvacture radius of the lane and the coupling of the longitudinal and lateral movements with the lane changing trajectory in the lane changing process, a lane changing trajectory planning method suitable for the curved road was proposed. According to the lane changing trajectory, a tracking control algorithm was proposed using the integral backstepping with intermediate virtual controllers. The stability of the control system was proved by Lyapunov stability theory. The simulations were performed and the results demonstrated that the control system guaranteed the trajectory tracking errors of the vehicle lane changing on curved road were uniformly and above boundedly convergent. The control system is characterized by quick work precise tracking and robust global stability.

Key words: engineering of communications and transportation safety, intelligent vehicle, lane changing, trajectory tracking, integral backstepping

中图分类号:

U461

郭烈, 黄晓慧, 葛平淑, 张广西, 岳明. 基于反演法的智能车辆弯路换道轨迹跟踪控制[J]. 吉林大学学报(工学版), 2013, 43(02): 323-328.

GUO Lie, HUANG Xiao-hui, GE Ping-shu, ZHANG Guang-xi, YUE Ming. Lane changing trajectory tracking control for intelligent vehicle on curved road based on backstepping[J]. 吉林大学学报(工学版), 2013, 43(02): 323-328.

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