采用极点配置的自动驾驶汽车换道路径规划与跟踪控制  

A Path Planning and Tracking Control Method for Lane Changing of Autonomous Vehicle Using Pole Assignment

作　　者：张家旭 张振兆 赵健[1] 王欣志 范天昕 ZHANG Jiaxu;ZHANG Zhenzhao;ZHAO Jian;WANG Xinzhi;FAN Tianxin(State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China;Intelligent Network R&D Institute,China FAW Group Co.,Ltd.,Changchun 130011,China)

机构地区：[1]吉林大学汽车仿真与控制国家重点实验室,长春130022 [2]中国第一汽车集团有限公司智能网联研发院,长春130011

出　　处：《西安交通大学学报》2020年第10期160-167,共8页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(51775235)。

摘　　要：针对自动驾驶汽车高速行驶过程中切换道路避让障碍物工况,提出了一种基于三次多项式曲线的路径规划算法和一种基于线性矩阵不等式区域极点配置方法的路径跟踪控制策略。首先,将汽车换道避让路径分解成几何形状相同的4段路径,采用三次多项式曲线规划出满足汽车运动学和动力学约束的第一段路径,并通过对第一段路径进行平移、翻转和旋转操作得到后3段路径,以及实现4段路径的平滑连接;然后,基于线性二自由度汽车动力学模型建立能够充分表征轮胎侧偏刚度不确定性的汽车换道避让路径跟踪控制模型,并采用线性矩阵不等式区域极点配置方法设计具有“前馈+反馈”控制结构的汽车换道避让路径跟踪控制策略,使闭环系统的极点配置在期望的位置上,保证闭环系统具有良好的动态和稳态性能。仿真实验结果表明:所提出的方法可将汽车驶离本车道时的纵向延迟距离由4.3 m减小到2.3 m,并且将汽车靠近目标车道时的最大侧向超调量由0.21 m减小到0.004 m,呈现出更好的动态和稳态性能。Aiming at the condition of lane changing and avoiding obstacle in the process of high speed driving of autonomous vehicle,a novel path planning algorithm and a path tracking control strategy are proposed based on cubic polynomial curve and on linear matrix inequality region pole assignment,respectively.Firstly,the lane changing avoidance path is decomposed into four segments with the same geometry,and the first segment satisfying the kinematic and dynamic constraints of vehicle is planned by using a cubic polynomial curve.Then,the rest three segments are obtained by translating,flipping and rotating the first segment to realize the smooth connection of the four segments.Secondly,a path tracking control model which represents the uncertainty of tire cornering stiffness is established based on a linear and two degrees of freedom vehicle dynamics model,and a path tracking control strategy with“feedforward+feedback”control structure is designed by using linear matrix inequality region pole assignment to improve the dynamic and steady-state performance of the closed-loop system.Simulation results show that the proposed method reduces longitudinal delay distance from 4.3 m to 2.3 m when the vehicle leaves the current lane,and reduces the maximum lateral overshoot from 0.21 m to 0.004 m when the vehicle approaches the target lane,suggesting that the method and the strategy have better dynamic and steady-state performance.

关 键 词：自动驾驶汽车 路径规划 路径跟踪控制 线性矩阵不等式 区域极点配置 

分 类 号：U461.1[机械工程—车辆工程]