基于曲率增广的智能车辆轨迹跟踪控制

doi:10.13229/j.cnki.jdxbgxb.20230167

Abstract

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

CLC Number:

TP273

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.

Figures/Tables 10

Fig.1

Fig.2

Fig.3

Fig.4

Table 1

Vehicle parameters for simulation"

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	$- 0.017 ? 4,0.017 ? 4$

Table 1

Fig.5

Table 2

Fig.6

Table 3

Table 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

Intelligent vehicle trajectory tracking control based on curvature augmentation

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