复杂道路下自动驾驶车辆的横向运动鲁棒控制策略  

Lateral motion robust control strategy of automated vehicle in complex road conditions

作　　者：高秀晶 陶林君 黄红武 刘显贵 GAO Xiujing;TAO Linjun;HUANG Hongwu;LIU Xiangui(Mechanical and Automotive Engineering,Xiamen University of Technology,Xiamen,361024,Fujian,China;Fujian Collaborative Innovation Center for R&D of Coach and Special Vehicle,Xiamen,361024,Fujian China)

机构地区：[1]厦门理工学院机械与汽车工程学院,厦门361024 [2]福建省客车及特种车辆研发协同创新中心,厦门361024

出　　处：《汽车安全与节能学报》2020年第4期454-461,共8页Journal of Automotive Safety and Energy

基　　金：国家自然科学基金面上项目(51978592);福建省自然科学基金(2020J0273);福建省教育厅中青科研项目(JAT190664);厦门市科技计划项目重大项目(3502Z20191019);校攀登计划项目(XPDKQ19010)。

摘　　要：针对自动驾驶横向控制在路面曲率变化、路面超高和侧风干扰等复杂道路下存在精度低和稳定性差的问题,提出了一种基于曲率平滑优化算法和反步滑模的自动驾驶横向运动鲁棒控制策略。通过三次均匀B-样条曲线,设计曲率平滑优化算法并生成平滑目标路径;分析外界干扰影响机理,优化车辆动力学模型并建立误差模型;设计了基于反步滑模的自动驾驶横向控制器。通过TruckSim、MATLAB/Simulink联合仿真,对该方法进行验证和评价。结果表明:该方法在路面曲率变化、路面超高和侧风干扰的复杂道路下,应对不同速度均保持良好的控制性能,具有较好的路径跟踪精度和控制稳定性。A new robust control strategy was designed based on curvature smoothing optimization and backstepping sliding mode to solve the problems of traditional lateral controllers having low accuracy and poor stability in complex road conditions,especially in the varying curvature,super-elevation and crosswind disturbance roads.A cubic uniform B-spline curve was used to design an optimal smoothing algorithm and generate a smooth target path.A vehicle lateral dynamic model was optimized.And error model was established via analyzing the influence mechanism of the external interference.A robust lateral controller of automatic driving path following was designed based on backstepping sliding mode.The accuracy of proposed controller strategy was validated by co-simulations with TruckSim and MATLAB/Simulink.The results show that the proposed method has a better control performance at different speeds with good tracking accuracy,stability and robustness in complex road conditions.

关 键 词：自动驾驶 横向控制 路径平滑 车辆动力学 反步滑模控制 

分 类 号：U463.6[机械工程—车辆工程]