基于RMPC的自动驾驶货车路径跟踪控制  

Path Tracking Control of Autonomous Truck Based on RMPC

作　　者：胡杰[1,2,3] 陈锐鹏 张志豪 向博文 刘昊岩[1,2,3] 朱琪 郭启翔 Hu Jie;Chen Ruipeng;Zhang Zhihao;Xiang Bowen;Liu Haoyan;Zhu Qi;Guo Qixiang(Wuhan University of Technology,Hubei Key Laboratory of Modern Auto Parts Technology,Wuhan 430070;Wuhan University of Technology,Auto Parts Technology Hubei Collaborative Innovation Center,Wuhan 430070;Hubei Technology Research Center of New Energy and Intelligent Connected Vehicle Engineering,Wuhan 430070;Commercial Product R&D Institute,Dongfeng Automobile Co.,Ltd.,Wuhan 430000)

机构地区：[1]武汉理工大学,现代汽车零部件技术湖北省重点实验室,武汉430070 [2]武汉理工大学,汽车零部件技术湖北省协同创新中心,武汉430070 [3]新能源与智能网联车湖北工程技术研究中心,武汉430070 [4]东风汽车股份有限公司商品研发院,武汉430000

出　　处：《汽车工程》2023年第11期2092-2103,共12页Automotive Engineering

基　　金：湖北省科技重大专项(2022AAA001)资助。

摘　　要：针对自动驾驶货车相较于普通乘用车具有较大模型不确定性、执行器偏差以及存在曲率扰动等外部影响因素导致路径跟踪精度不足问题,本文提出一种基于鲁棒模型预测控制(robust model predictive control,RMPC)的分层式控制方法。首先,在转角增量式控制误差模型的基础上,根据实际车辆系统与标称模型之间的偏差,设计鲁棒控制律并构建上层多目标约束RMPC控制器,提高跟踪精度。然后,针对自动驾驶货车不足转向以及定位误差问题,设计下层转角补偿器和基于中值滤波的状态估计器,改善执行响应,提升车辆稳定性。最后,通过TruckSim/Simulink联合仿真和实车试验验证,结果表明:所提出的控制方法能够有效处理模型失配和不确定性扰动,具备良好的鲁棒性和适应性。For the problem of insufficient path tracking accuracy of autonomous trucks compared to ordinary passenger cars,which are caused by greater model uncertainty,actuator deviation and external influencing factors such as curvature disturbances,a hierarchical control method based on Robust Model Predictive Control(RMPC)is proposed in this paper.Firstly,based on the incremental steering control error model,according to the deviation between the actual vehicle system and the nominal model,a robust control law is designed and the upper-level multi-objective constraint RMPC controller is constructed to improve the tracking accuracy.Then,to solve the problem of insufficient steering and positioning error of the autonomous trucks,the lower-level steer compensator and the state estimator based on median filter are designed to improve the steering response and the vehicle stability.Finally,the results of TruckSim/Simulink co-simulation and real vehicle tests show that the proposed control method can effectively deal with model mismatch and uncertain disturbances,and has good robustness and adaptability.

关 键 词：自动驾驶货车 路径跟踪 RMPC 转角补偿 状态估计 

分 类 号：U463.6[机械工程—车辆工程] TP273[交通运输工程—载运工具运用工程]