无人驾驶汽车变速换道轨迹跟踪动态控制

doi:10.13229/j.cnki.jdxbgxb.20230175

Abstract

Abstract:

A dynamic control strategy for variable speed lane change trajectory tracking was proposed. It includes a double PID longitudinal speed controller and a lateral model predictive controller using comprehensive evaluation indexes： lateral error， yaw rate， and side-slip angle. coefficients of each evaluation index based on the estimated tire-road friction coefficient and predicted vehicle status information. This allows achieving dynamic control between tracking accuracy and lateral stability. To verify the effectiveness of the algorithm， variable speed lane changing scenarios with high and low tire-road friction coefficients were designed， and CarSim and Simulink simulations were conducted. The simulation results demonstrate that the proposed dynamic control strategy realizes the dynamic adjustment of weight factors under different tire-road friction coefficients. It ensures smooth control output during lane changes， improves trajectory tracking control accuracy and lateral stability of unmanned vehicles simultaneously， and exhibits good coordination control effect.

Key words: vehicle engineering, dynamic control, variable speed lane change, model predictive control, adaptive working condition, longitudinal control

CLC Number:

U463.6

Gang LIU,Qun FAN,Xu YANG,Hong-bin REN. Dynamic control for trajectory tracking of variable speed lane change in autonomous vehicles[J].Journal of Jilin University(Engineering and Technology Edition), 2024, 54(12): 3729-3739.

Figures/Tables 14

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Table 1

Vehicle dynamics model parameters"

参数	数值
整车质量 $m / k g$	1 413
质心与前轴间距 $l f / m$	1.015
质心与后轴间距 $l r / m$	1.895
车身绕Z轴的转动惯量 $I z / (k g ? m - 2)$	1 536.7
前轮的侧偏刚度 $C f / (N · r a d - 1)$	-148 970
后轮的侧偏刚度 $C r / (N · r a d - 1)$	-82 204
车轮有效滚动半径 $r / m$	0.347

Table 1

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Table 2

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项目	横向位移误差峰值/m	横向误差RMS/m
可拓MPC	0.28	0.08
动态控制	0.09	0.04
优化效果/%	67.9	50.0

前轮转角	可拓MPC	动态控制	优化效果/%
峰值/（°）	2.31	0.45	80.5
RMS/（°）	0.43	0.18	58.1

Dynamic control for trajectory tracking of variable speed lane change in autonomous vehicles

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