Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (3): 643-652.doi: 10.13229/j.cnki.jdxbgxb20221427

Previous Articles    

Speed planning and control under complex road conditions based on vehicle executive capability

De-jun WANG1,2(),Kai-ran ZHANG1,2,Peng XU2,Tian-biao GU1,2,Wen-ya YU1,2   

  1. 1.State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
    2.College of Communication Engineering，Jilin University，Changchun 130022，China
  • Received:2022-11-10 Online:2023-03-01 Published:2023-03-29

RICH HTML

 14   

PDF (PC)

125

Abstract:

In order to solve the problem of speed planning in complex road environment （large curvature， low adhesion） meeting the constraints of safety and efficiency， a differential equation programming method based on vehicle dynamics was proposed. Firstly， the structural parameter expression of the limit velocity satisfying the lateral tire force constraint was derived in steady-state steering. Secondly， the spatial combination of the tire forces of the front wheel and the rear wheel is shown in the F-F diagram. And the implicit differential equation considering load transfer and driving mode factors was derived. The limit velocity along the path can be obtained by solving the differential equation. A method for calculating the limit speed based on discrete path information was given. Finally， a model prediction controller was designed and a co-simulation platform of CarSim and Simulink was built. The trajectory tracking simulation experiments were carried out with the planned limit speed on the continuous and discrete information paths. The results show that the proposed limit speed planning method can complete the trajectory tracking task as soon as possible in the complex road environment and control the- tire force within the range of stable friction circle.

Key words: control theory and control engineering, limit speed, trajectory tracking, F-F diagram, model predictive control

CLC Number: 

  • TP273

Fig.1

Vehicle single-track dynamic model"

Fig.2

Influence of different adhesion coefficient on lateral force of tire"

Fig.3

F-F diagram affected by load transfer"

Table1

Change of θ at different stages"

阶段轮胎受力角θ变化情况
1θ=180°→θ∈90°,270°
2θ=90°或270°
3θ∈-90°,90°→θ=0°

Fig.4

Block diagram of limit speed planning"

Fig.5

Solution of steady state limit speed"

Fig.6

Bidirectional iteration to calculate the dynamic limit speed"

Fig.7

Control framework"

Table 2

Simulation parameters"

参数数值参数数值
m/kg1 723Nc3
Kf/（N·rad-1）133 800Qdiag（7000，1200，120）
Kr/（N·rad-1）125 400Rdiag（5000，50）
lf/m1.232λε1000
lr/m1.468Ts/s0.02
Np20

Fig.8

Limit speed comparison on path 1"

Fig.9

Trajectory tracking effect comparison on path 1"

Fig.10

Change of vehicle state on path 1"

Fig.11

Tire force comparison on path 1"

Fig.12

Trajectory tracking effect comparison on path 2"

Fig.13

Limit speed comparison on path 2"

Fig.14

Change of vehicle state on path 2"

Fig.15

Tire force comparison on path 2"

Fig.16

Changing adhesion coefficient road"

Fig.17

Trajectory tracking effect comparison on changing adhesion coefficient path"

1 Wang De-jun, Qu Zhuo, Ding Jian-nan. Tire force distribution method with the constraints of executable drive space consideration[J]. IEEE Transactions on Vehicular Technology, 2018, 67(12): 11427-11439.
2 陈国迎, 姚军, 王鹏, 等. 适用于后轮轮毂驱动车辆的稳定性控制策略[J]. 吉林大学学报: 工学版, 2021, 51(2): 397-405.
Chen Guo-ying, Yao Jun, Wang Peng, et al. Stability control strategy for rear in-wheel motor drive vehicle[J]. Journal of Jilin University (Engineering and Technology Edition), 2021, 51(2): 397-405.
3 Chen Yong, Chen Si-zhong, Zhao Yu-zhuang, et al. Optimized handling stability control strategy for a four in-wheel motor independent-drive electric vehicle[J]. IEEE Access, 2019, 7: 17017-17032.
4 Li Sheng-bo, Chen Hai-liang, Li Ren-jie, et al. Predictive lateral control to stabilise highly automated vehicles at tire-road friction limits[J]. Vehicle System Dynamics, 2020, 58(5): 768-786.
5 Imani M M, Limebeer D J N. Region of attraction analysis for nonlinear vehicle lateral dynamics using sum-of-squares programming[J]. Vehicle System Dynamics, 2018, 56(7): 1118-1138.
6 Laurense V A, Gerdes J C. Speed control for robust path-tracking for automated vehicles at the tire–road friction limit[J/OL]. [2022-11-05]. t i r e - r o a d _friction_
limit_ 0.pdf
7 Massaro M, Limebeer D J N. Minimum-lap-time optimisation and simulation[J]. Vehicle System Dynamics, 2021, 59(7): 1069-1113.
8 Laurense V A, Goh J Y, Gerdes J C. Path-tracking for autonomous vehicles at the limit of friction[C]∥2017 American Control Conference (ACC), Seattle, WA, USA, 2017: 5586-5591.
9 Parra A, Tavernini D, Gruber P, et al. On pre-emptive vehicle stability control[J]. Vehicle System Dynamics, 2022, 60(6): 2098-2123.
10 Herrmann T, Wischnewski A, Hermansdorfer L, et al. Real-time adaptive velocity optimization for autonomous electric cars at the limits of handling[J]. IEEE Transactions on Intelligent Vehicles, 2020, 6(4): 665-677.
11 Duhr P, Sandeep A, Cerofolini A, et al. Convex performance envelope for minimum lap time energy management of race cars[J]. IEEE Transactions on Vehicular Technology, 2022, 71(8): 8280-8295.
12 Dal Bianco N, Bertolazzi E, Biral F, et al. Comparison of direct and indirect methods for minimum lap time optimal control problems[J]. Vehicle System Dynamics, 2019, 57(5): 665-696.
13 Chen Jie, Song Jian, Li Liang, et al. A novel pre-control method of vehicle dynamics stability based on critical stable velocity during transient steering maneuvering[J]. Chinese Journal of Mechanical Engineering, 2016, 29(3): 475-485.
14 Kritayakirana K, Gerdes J C. Autonomous vehicle control at the limits of handling[J]. International Journal of Vehicle Autonomous Systems, 2012, 10(4): 271-296.
15 Subosits J, Gerdes J C. Autonomous vehicle control for emergency maneuvers: the effect of topography[C]∥2015 American Control Conference (ACC), Chicago, IL, USA,2015: 1405-1410.
16 陈龙, 解云鹏, 蔡英凤, 等. 极限工况下无人驾驶车辆稳定跟踪控制[J]. 汽车工程, 2020, 42(8): 1016-1026.
Chen Long, Xie Yun-peng, Cai Ying-feng, et al. Stable tracking control of autonomous vehicles at extreme conditions[J]. Automotive Engineering, 2020, 42(8): 1016-1026.
17 余志生. 汽车理论[M]. 北京: 机械工业出版社, 2009.
18 Pacejka H B, Sharp R S. Shear force development by pneumatic tyres in steady state conditions: a review of modelling aspects[J]. Vehicle System Dynamics, 1991, 20(3): 121-175.
19 陈虹. 模型预测控制[M]. 北京: 科学出版社, 2013.
[1] Yun-feng HU,Tong YU,Hui-ce YANG,Yao SUN. Optimal control method of fuel cell start⁃up in low temperature environment [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(9): 2034-2043.
[2] Guang-ming NIE,Bo XIE,Yan-tao TIAN. Design of cooperative adaptive cruise control algorithm based on Frenet framework [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(7): 1687-1695.
[3] Wen-jing WU,Yong-bin ZHAN,Li-li YANG,Run-chao CHEN. Coordinated control method of variable speed limit in on⁃ramp area considering safety distance [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(6): 1315-1323.
[4] Wen-hang LI,Tao NI,Ding-xuan ZHAO,Pan-hong ZHANG,Xiao-bo SHI. Active suspension control method of high mobility rescue vehicle based on ensemble Kalman filter [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(12): 2816-2826.
[5] Hao-nan PENG,Ming-huan TANG,Qi-wen ZHA,Wei-zhong WANG,Wei-da WANG,Chang-le XIANG,Yu-long LIU. Optimization⁃based lane changing trajectory planning approach for autonomous vehicles on two⁃lane road [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(12): 2852-2863.
[6] Zhi-jun YANG,Zhong-yi GAO,Li-jun WANG,Guan-xin HUANG,Yu-tai WEI. Model predictive control algorithm for rigid⁃flexible coupling positioning stage [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(12): 2806-2815.
[7] Jian-xin FENG,Qiang WANG,Ya-lei WANG,Biao XU. Fuzzy PID control of ultrasonic motor based on improved quantum genetic algorithm [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 1990-1996.
[8] Hong-zhi WANG,Ting-ting WANG,Huang-shui HU,Xiao-fan LU. PID control based on BP neural network optimized by Q⁃learning for speed control of BLDCM [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 2280-2286.
[9] Shu-you YU,Huan CHANG,Ling-yu MENG,Yang GUO,Ting QU. Disturbance observer based moving horizon control for path following problems of wheeled mobile robots [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(3): 1097-1105.
[10] Chao JIA,Hong-ze XU,Long-sheng WANG. Nonlinear model predictive control for automatic train operation based on multi⁃point model [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1913-1922.
[11] Ai-guo WU,Jun-qing HAN,Na DONG. Adaptive sliding mode control based on ultra⁃local model for robotic manipulator [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1905-1912.
[12] Ji-qing CHEN,Qing-sheng LAN,Feng-chong LAN,Zhao-lin LIU. Trajectory tracking control based on tire force prediction and fitting [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(5): 1565-1573.
[13] Yan MA,Jian-fei HUANG,Hai-yan ZHAO. Method of vehicle formation control based on vehicle to vehicle communication [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(2): 711-718.
[14] Miao-miao MA,Jun-jun PAN,Xiang-jie LIU. Model predictive load frequency control of microgrid with electrical vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1644-1652.
[15] Ting YAN,Lin YANG,Liang CHEN. AMT shift actuator adaptive intelligent control strategy [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1441-1450.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd