无人驾驶方程式赛车横向运动控制研究  

Research on Lateral Motion Control of Driverless Racing Cars

作　　者：张苏才 李刚[1,2] 王立勇 宿焱[1] ZHANG Sucai;LI Gang;WANG Liyong;SU Yan(School of Automobile and Traffic Engineering,Liaoning University of Technology,Jinzhou 121001,Liaoning,China;Beijing Key Laboratory of Measurement&Control of Mechanical and Electrical System Technology,Beijing Information Science&Technology University,Beijing 100192,China)

机构地区：[1]辽宁工业大学汽车与交通工程学院,辽宁锦州121001 [2]北京信息科技大学机电系统测控北京市重点实验室,北京100192

出　　处：《济南大学学报（自然科学版）》2022年第3期292-300,共9页Journal of University of Jinan(Science and Technology)

基　　金：国家自然科学基金项目(51675257);北京信息科技大学机电系统测控北京市重点实验室资助项目(KF20202223201);辽宁省科技攻关计划项目(201706020)。

摘　　要：针对无人驾驶方程式赛车在变速和复杂曲率赛道条件下难以保证横向运动控制精度与行驶稳定性的问题,提出基于纯追踪控制与模型预测控制的横向运动混合控制策略;以赛车纵向车速作为依据,设计控制模式切换逻辑,当赛车处于低速行驶工况时采用纯追踪控制,高速行驶时采用模型预测控制,并使用模糊控制算法设计切换控制器,实现2种算法的平滑切换;使用CarSim与MATLAB/Simulink联合仿真实验进行验证。结果表明,在变速与复杂曲率赛道条件下,所提出的控制策略能保证无人驾驶方程式赛车横向位置误差小于0.2 m,质心侧偏角小于0.15°,具有较好的跟踪精度与行驶稳定性。Aiming at the problem that it was difficult to ensure accuracy of lateral motion control and driving stability of driverless racing cars under the condition of variable speed and complex curvature tracks,a hybrid lateral motion control strategy based on pure pursuit control and model predictive control was proposed.Based on longitudinal speed of a racing car,the control mode switching logic was designed.When the racing car was at low speed,pure pursuit control was used,and model predictive control was used at high speed.The switching controller was designed by using fuzzy control algorithm to achieve smooth switching between the two algorithms.CarSim and MATLAB/Simulink joint simulation experiment was used for verification.The results show that the proposed control strategy can ensure that the lateral position error of the driverless racing car is less than 0.2 m and the sideslip angle of mass center is less than 0.15°under the condition of variable speed and complex curvature tracks,and it has good tracking accuracy and driving stability.

关 键 词：无人驾驶方程式赛车 行驶稳定性 模型预测控制 纯追踪控制 横向运动控制 

分 类 号：U463.6[机械工程—车辆工程]