吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (3): 1081-1090.doi: 10.13229/j.cnki.jdxbgxb20200057

• 通信与控制工程 • 上一篇    

汽车高速换道避让路径规划及离散滑模跟踪控制

张家旭1,2(),王欣志1,赵健1(),施正堂3   

  1. 1.吉林大学 汽车仿真与控制国家重点实验室，长春 130022
    2.中国第一汽车集团有限公司 智能网联研发院，长春 130011
    3.浙江亚太机电股份有限公司 智能汽车控制系统研究院，杭州 311200
  • 收稿日期:2020-01-23 出版日期:2021-05-01 发布日期:2021-05-07
  • 通讯作者: 赵健 E-mail:zhjx_686@163.com;zhaojian@jlu.edu.cn
  • 作者简介:张家旭（1985-），男，高级工程师，博士. 研究方向：汽车地面系统分析与控制. E-mail:zhjx_686@163.com
  • 基金资助:
    国家自然科学基金面上项目(51575225)

Path planning and discrete sliding mode tracking control for high⁃speed lane changing collision avoidance of vehicle

Jia-xu ZHANG1,2(),Xin-zhi WANG1,Jian ZHAO1(),Zheng-tang SHI3   

  1. 1.State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
    2.Intelligent Network R&D Institute，China FAW Group Co. ，Ltd. ，Changchun 130011，China
    3.Intelligent Vehicle Control System Research Institute，Zhejiang Asia-Pacific Mechanical and Electronic Co. ，Ltd. ，Hangzhou 311200，China
  • Received:2020-01-23 Online:2021-05-01 Published:2021-05-07
  • Contact: Jian ZHAO E-mail:zhjx_686@163.com;zhaojian@jlu.edu.cn

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摘要：

针对汽车高速换道避让路径规划和跟踪控制问题，提出了一种基于五次多项式曲线的汽车高速换道避让路径规划方法和基于离散滑模的汽车高速换道避让路径跟踪控制策略。首先，基于五次多项式曲线规划汽车高速换道避让路径，并通过查表方式间接建立汽车高速换道避让路径曲率最大值、汽车高速换道避让路径曲率变化率最大值与五次多项式曲线待定系数的映射关系，以使汽车高速换道避让路径满足乘坐舒适性和安全性需求。为了快速、稳定地跟踪基于五次多项式曲线规划的汽车高速换道避让路径，融合汽车运动学模型和线性二自由度汽车动力学模型建立了包含加性不确定性的线性离散控制模型，并基于干扰观测器的离散滑模控制理论设计了汽车高速换道避让路径跟踪控制策略。最后，利用车辆动力学软件建立了模型在环仿真系统，对本文汽车高速换道避让路径规划方法和汽车高速换道避让路径跟踪控制策略的可行性和有效性进行了仿真验证。

关键词: 车辆工程, 高速换道避让, 路径规划及跟踪控制, 五次多项式曲线, 干扰观测器, 离散滑模控制

Abstract:

In order to solve the problem of path planning and tracking control for high-speed lane changing collision avoidance of vehicle， a path planning method and a path tracking control strategy for high-speed lane changing collision avoidance of vehicle are proposed based on quintic polynomial curve and discrete sliding mode control theory， respectively. Firstly， a feasible path is planned based on quintic polynomial curve. The mapping relationship between the maximum curvature， the maximum curvature change rate of the planned path and the undetermined coefficients of the quintic polynomial curve is established indirectly by lookup table， so that the planned path meets the requirements of riding comfort and safety. Secondly， in order to track the planned path based on quintic polynomial curve quickly and steadily， a linear discrete control model with additive uncertainty is established by combining the vehicle kinematics model with the linear vehicle dynamics model of two degrees of freedom， and a path tracking control strategy is designed based on discrete sliding mode control theory with disturbance observer. Finally， a model in the loop simulation system is established based on the software of vehicle dynamics. The feasibility and effectiveness of the proposed path planning method and path tracking control strategy are verified by the model in the loop simulation system.

Key words: vehicle engineering, high-speed lane changing collision avoidance, path planning and tracking control, quantic polynomial curve, disturbance observer, discrete sliding mode control

中图分类号: 

  • U461.1

图1

汽车高速换道避让路径"

图2

汽车高速换道避让路径规划过程"

图3

汽车高速换道避让路径跟踪控制模型"

图4

汽车高速换道避让路径跟踪误差"

图5

模型在环仿真系统结构"

表1

汽车高速换道避让路径跟踪控制策略参数"

符号含义及单位数值
M整车质量/kg1416
Iz汽车绕质心垂直轴转动惯量/(kg·m2)1523
Lf汽车质心点到前轴的距离/m1.016
Lr汽车质心点到后轴的距离/m1.562
Cf汽车前轴等效侧偏刚度/(N·rad-1)80 000
Cr汽车后轴等效侧偏刚度/(N·rad-1)80 000
T采样时间/s0.001
λ1设计参数12
λ2设计参数0.05
λ3设计参数0.01

图6

汽车操纵性线性区仿真工况对比结果"

图7

汽车操纵性非线性区工况仿真结果"

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