基于曲率增广的智能车辆轨迹跟踪控制

doi:10.13229/j.cnki.jdxbgxb.20230167

摘要/Abstract

摘要：

设计了一种带转角补偿的曲率增广模型预测控制+比例积分控制器，以提高智能车辆在非直线参考轨迹下的跟踪精度。首先，基于跟踪偏差车辆模型，将曲率作为增广量设计模型预测控制算法，分析了曲率增广对控制器性能的影响。其次，利用李雅普诺夫直接方法获得保证算法稳定的预测时域，计算了稳态误差，并设计了比例积分控制器补偿前轮转角以消除稳态横向偏差。最后，进行了仿真分析，结果表明：本文所设计的控制器在保证稳定性和平顺性的同时，可提高车辆轨迹的跟踪精度且收敛速度更快，在不同极限稳定条件下也能获得较好的控制效果。

关键词: 自动控制技术, 智能车辆, 轨迹跟踪, 曲率增广模型预测控制, 比例积分控制

Abstract:

In order to improve tracking accuracy of intelligent vehicle under non-linear reference trajectories， a curvature augmentation model predictive control/propotional integral controller with front wheel angle compensation was proposed. First， based on tracking deviation vehicle model， model predictive control algorithm was designed by using curvature as augmentation state， and influence of curvature broadening was analyzed. Then， Lyapunov direct method was used to obtain predictive horizon that ensures algorithm stability， and system steady-state error was calculated. To eliminate steady-state lateral deviation， propotional integral controller was designed to compensate front wheel angle. Finally， simulation was conducted and results show that， the designed controller improves trajectory tracking accuracy and achieves better convergence rate， while ensuring stability and smoothness， and obtains good control effect under limit conditions.

Key words: automatic control technology, intelligent vehicle, trajectory tracking, curvature augmentation model predictive control, propotional integral control

中图分类号:

TP273

刘果,熊坚,杨秀建,何扬帆. 基于曲率增广的智能车辆轨迹跟踪控制[J]. 吉林大学学报(工学版), 2024, 54(12): 3717-3728.

Guo LIU,Jian XIONG,Xiu-jian YANG,Yang-fan HE. Intelligent vehicle trajectory tracking control based on curvature augmentation[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(12): 3717-3728.

图/表 10

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图2

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图4

表1

仿真用的整车参数"

车辆参数	数值
车辆质量 $m$ /kg	1723
前轴距质心的距离 $l f$ /m	1.232
后轴距质心的距离 $l r$ /m	1.468
车辆绕z轴的转动惯量 $I$ /（kg·m^-2）	4175
前轮侧偏刚度 $C α f$ /（N·rad^-1）	-66900
后轮侧偏刚度 $C α r$ /（N·rad^-1）	-62700
前轮转角约束 $u m i n, u m a x$ /rad	$- 0.348 ? 8,0.348 ? 8$
前轮转角变化量约束 $Δ u m i n, Δ u m a x$ /rad	$- 0.017 ? 4,0.017 ? 4$

表1

图5

表2

图6

表3

表4

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控制器	横向偏差均方根/m	航向角偏差均方根/rad	稳定时间/s
预瞄MPC	0.0293	0.00172	2.647
曲率增广MPC	0.0058	0.00055	1.379
预瞄MPC+PI	0.0158	0.00113	2.361
曲率增广MPC+PI	0.0013	0.00049	1.22

控制器	横向偏差均方根/m	航向角偏差均方根/rad
预瞄MPC	0.1441	0.0164
曲率增广MPC	0.0932	0.0136
预瞄MPC+PI	0.0947	0.0137
曲率增广MPC+PI	0.0597	0.0087

工况		横向偏差均方根/m	航向角偏差均方根/rad
车速/（m·s^-1）	附着系数	横向偏差均方根/m	航向角偏差均方根/rad
10	0.3	0.0224	0.0041
15	0.3	0.06	0.0113
25	0.6	0.1091	0.0203
30	0.8	0.1277	0.0234

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