基于鲁棒比例-积分-微分控制的智能汽车自主换道轨迹跟踪控制  

Trajectory Tracking Control of Autonomous Lane Change for Intelligent Vehicles Based on Robust Proportion-integral-derivative

作　　者：华一丁 戎辉[3] 龚进峰[3] 唐风敏[3] 郭蓬[3] 何佳[3] HUA Yi-ding;RONG Hui;GONG Jin-feng;TANG Feng-min;GUO Peng;HE Jia(School of Mechanical Engineering Tianjin University,Tianjin 300072,China;China Automotive Research(Tianjin)Automotive Engineering Research Institute Co.,Ltd.,Tianjin 300300,China;China Automotive Technology Research Center Co.,Ltd.,Tianjin 300300,China)

机构地区：[1]天津大学机械工程学院,天津300072 [2]中汽研(天津)汽车工程研究院有限公司,天津300300 [3]中国汽车技术研究中心有限公司,天津300300

出　　处：《科学技术与工程》2020年第11期4425-4430,共6页Science Technology and Engineering

基　　金：国家重点研发计划(2017YFB0102500);天津市科委人工智能重大专项(17ZRXGGX00130);天津市科委新一代人工智能科技重大专项(18ZXZNGX00230);中国汽车技术研究中心有限公司重点课题(16190125)(10318-01)。

摘　　要：为了解决智能汽车自主换道轨迹跟踪所使用的比例-积分-微分(proportion-integral-derivative,PID)控制器参数难以整定的问题,提出应用于自主换道轨迹跟踪控制的鲁棒PID控制器设计方法。首先,构建车辆-道路系统动力学模型,将转向执行机构看作一阶惯性环节,搭建包括转向执行机构动力学模型在内的系统动力学模型;然后,基于分段多项式表达求解自主换道轨迹模型,并基于时间与误差绝对值乘积积分构建鲁棒PID控制器,确定控制参数,形成闭环系统的传递函数;最后,进行仿真及实车试验,结果表明,所设计的控制器具有较强的鲁棒性,能在保证换道工况下智能车辆较好的轨迹跟踪能力的同时,有效地提高乘员舒适性。At present, the parameters of PID(proportion-integral-derivative) controller used for trajectory tracking of autonomous lane change of intelligent vehicles are difficult to be adjusted. To solve this problem, a robust PID controller design method was proposed. First, a vehicle-road system dynamic model was built, which takes the steering actuator as the first-order inertial link and included the steering actuator dynamic model. Second, the autonomous lane change trajectory model was solved based on the piecewise polynomial. The robust PID controller was constructed based on the product integral of time and absolute error value to determine the control parameters and form the transfer function of the closed-loop system. Finally, simulation and real vehicle test were carried out. Results show that the designed controller had strong robustness, which can ensure the tracking ability of intelligent vehicles under lane changing conditions and effectively improve the comfort of passengers simultaneously.

关 键 词：智能汽车 自主换道 鲁棒PID 轨迹跟踪 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]