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

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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

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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"

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