Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (6): 2287-2294.doi: 10.13229/j.cnki.jdxbgxb20210470

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Lateral and longitudinal coupling real⁃time predictive controller for intelligent vehicle path tracking

Fang XU1,2(),Jun-ming ZHANG2,Yun-feng HU2,Ting QU1,Yi QU2,Qi-fang LIU2()   

  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:2021-05-25 Online:2021-11-01 Published:2021-11-15
  • Contact: Qi-fang LIU E-mail:fangxu@jlu.edu.cn;liuqf@jlu.edu.cn

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Abstract:

In order to solve the intelligent vehicle path stability tracking control problem on high-speed road with low surface adhesion coefficient, a lateral and longitudinal coupling integrated controller based on nonlinear model predictive control is proposed in this paper, and the real-time control is realized. First of all, the desired vehicle lateral velocity is calculated according to the desired path information. Second, the objective function is designed as the errors of the differences between actual lateral and longitudinal vehicle speeds and the desired speeds. Third, considering the actuator constraints, a nonlinear model predictive controller is designed and the optimal solutions of the front wheel angle and the driving force are obtained to realize the vehicle path stability tracking control. Fourth, in order to improve the real-time performance of the controller, the nonlinear programming problem is transformed into algebraic equations, and the parallel Newton method is used to solve the equations. Finally, through decoupling the coupling relationship of the equations between time domains, the computational complexity of the optimization problem is reduced.The simulation experiment of the controller and the hardware-in-the-loop experiment are carried out under the double line shifting condition. The experimental results verify the effectiveness of the controller designed in this paper, and realize the real-time control of vehicle path tracking.

Key words: automatic control technology, vehicle path tracking, lateral and longitudinal coupling, nonlinear predictive controller, real-time control

CLC Number: 

  • TP273

Fig.1

Integrated horizontal and longitudinal coupling control strategy of vehicle path tracking"

Fig.2

Simulation results of double line shiftingcondition （highly attached road surface 0.8）"

Fig.3

Simulation results of double line shiftingcondition（highly attached road surface 0.2）"

Fig.4

Comparison diagram of single solution time"

Fig.5

Hardware-in-the-loop test platform"

Fig.6

Real-time experimental results ofdouble line shifting condition"

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