考虑转向延迟特性的自动驾驶车辆路径跟踪控制方法  

Path Tracking Control Method with Steering Lag for Autonomous Vehicles

作　　者：吕颖 祁旭 刘秋铮 王鑫煜 陈国迎[4] Lu Ying;Qi Xu;Liu Qiuzheng;Wang Xinyu;Chen Guoying(National Key Laboratory of Advanced Vehicle Integration and Control,Changchun 130000;China FAW Co.,Ltd.,Changchun 130000;College of Automotive Engineering,Jilin University,Changchun 130022;Jilin University,State Key Laboratory of Automotive Simulation and Control,Changchun 130022)

机构地区：[1]高端汽车集成与控制全国重点实验室,长春130000 [2]中国第一汽车股份有限公司,长春130000 [3]吉林大学汽车工程学院,长春130022 [4]吉林大学,汽车仿真与控制国家重点实验室,长春130022

出　　处：《汽车工程》2023年第12期2234-2241,共8页Automotive Engineering

基　　金：吉林省重大科技专项一汽自主创新重大科技专项(20210301030GX)资助。

摘　　要：自动驾驶路径跟踪系统是实现L2级以上自动驾驶的重要支撑技术。线控转向系统存在的延迟响应特性会降低路径跟踪控制器的鲁棒性和控制精度,甚至在高车速下存在失稳现象。针对以上问题本文设计了前馈加有限时域全状态反馈的误差跟踪控制架构,在此基础上将转向系统延时作为1阶惯性环节进行模型化表达,并作为状态变量增广融合到误差跟踪控制架构中。本文利用联合仿真试验对提出的跟踪控制器进行了对比验证,验证结果证明本文提出的控制器在直角弯道和高速换道场景下,最大横向误差小于0.3 m,转向盘的转角均方差分别降低1.93%和64.22%。最后的实车试验结果表明,本文提出的控制器在高速换道场景下能够有效提升横向控制精度,最大横向误差小于0.11 m。The automatic driving path tracking system is an important supporting technology for realizing automatic driving above L2 level.The delayed response characteristic of the linear steering system reduces the ro-bustness and control accuracy of the path-tracking controller,with even instability at high speed.For the above prob-lems,an error tracking control architecture with feedforward plus finite time domain full state feedback is designed in this paper,on the basis of which the steering system delay is modeled as a first-order inertial link and integrated into the error tracking control architecture as a state variable augmentation.In this paper,the proposed tracking con-trollers are compared and validated using joint simulation tests,and the validation results show that the maximum lateral error of the proposed controllers is less than 0.3 m in the right-angle corner and high-speed lane change sce-narios,and the steering wheel's rotational angle rms variance is reduced by 1.93%and 64.22%,respectively.The final results of the real-vehicle tests show that the controller proposed in this paper can effectively improve the later-al control accuracy in the high-speed lane-changing scenario,with the maximum lateral error less than 0.11 m.

关 键 词：自动驾驶车辆 路径跟踪 转向延迟 全状态反馈 惯性环节 

分 类 号：U463.6[机械工程—车辆工程]