基于可变预测时域及速度的车辆路径跟踪控制  

Path Tracking Control of Vehicles Based on Variable Prediction Horizon and Velocity

作　　者：白国星 孟宇[1,2] 刘立[1] 顾青[1] 罗维东[1] 甘鑫 BAI Guoxing;MENG Yu;LIU Li;GU Qing;LUO Weidong;GAN Xin(School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, 100083;Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing, 100083)

机构地区：[1]北京科技大学机械工程学院,北京100083 [2]北京科技大学人工智能研究院,北京100083

出　　处：《中国机械工程》2020年第11期1277-1284,共8页China Mechanical Engineering

基　　金：国家重点研发计划资助项目(2018YFC0604403,2016YFC0802905);国家高技术研究发展计划(863计划)资助项目(2011AA060408);中央高校基本科研业务费专项资金资助项目(FRF-TP-17-010A2)。

摘　　要：非线性模型预测控制(NMPC)在车辆路径跟踪控制中的应用日益广泛,但目前的研究成果中尚未深入考虑预测时域和速度对车辆路径跟踪控制性能的影响。为此,分析了预测时域、速度与车辆路径跟踪控制性能之间的关系;采用三次多项式拟合获得了能够保证车辆路径跟踪横向误差小于0.1 m的最佳预测时域和参考速度的控制律;改进了用于车辆路径跟踪控制的NMPC控制器,且改进后的NMPC控制器的性能通过仿真进行了验证。仿真结果表明:改进后的NMPC控制器的横向误差在0.0928 m以内,航向误差在0.0724 rad以内。相比传统NMPC控制器,改进后的NMPC控制器将最大横向误差减小了4.2671 m以上,将最大航向误差减小了0.3927 rad以上,路径跟踪控制性能得到了较大幅度的提高。NMPC was widely applied to the path tracking control of vehicles.However,the impacts of prediction horizon and velocity on the performances of path tracking control were not considered in reported researches.Thus,the relationship among prediction horizon,velocity and the performances of path tracking control was analyzed.Through the cubic polynomial fitting,the control laws of the optimal prediction horizon and reference velocity were obtained,which may guarantee the lateral error of path tracking less than 0.1 m.Then,the NMPC controller for path tracking control was improved,and the performances of the NMPC controller were vertified by simulation.The simulation results show that,for the improved NMPC controller,the lateral error is within 0.0928 m and the heading error is within 0.0724 rad.Compared with the traditional NMPC controller,the improved NMPC controller reduces the maximum lateral error by more than 4.2671 m and reduces the maximum heading error by more than 0.3927 rad,and the performances of path tracking control are improved.

关 键 词：路径跟踪 非线性模型预测控制 预测时域 速度 

分 类 号：U471[机械工程—车辆工程]