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作 者:周卫琪[1,2] 赵羿寒 刘擎超 陈龙[1] ZHOU Weiqi;ZHAO Yihan;Liu Qingchao;Chen Long(Automotive Engineering Research Institute,Jiangsu University,Zhenjiang 212013,Jiangsu China;Jiangsu University Research Institute of Engineering Technology,Zhenjiang 212013,Jiangsu China)
机构地区:[1]江苏大学汽车工程研究院,江苏镇江212013 [2]镇江市江苏大学工程技术研究院,江苏镇江212013
出 处:《华中科技大学学报(自然科学版)》2024年第3期135-141,共7页Journal of Huazhong University of Science and Technology(Natural Science Edition)
基 金:国家自然科学基金资助项目(51905223,U20A20331);江苏省重点研发计划资助项目(BE2021011-3)。
摘 要:针对智能车辆通过弯道或狭窄区域过程中难以兼顾控制精度和通过安全裕度的问题,提出一种改进线性二次型调节器(LQR)的路径跟踪横向控制策略.首先,建立车辆系统动力学模型;其次,在横向控制方面设计了基于线性二次型调节器理论的控制器,添加前馈控制,提高了路径跟踪过程中的横向控制精度;提出车体偏差概念,在控制策略中加入车体尺寸约束,提高了车辆的通过性,使得控制输入得以保证控制精度和通过安全裕度;最后,联合PreScan和Matlab/Simulink软件对车库场景和连续变曲率狭窄弯道场景进行对比仿真试验验证.试验结果表明:本控制策略在上述场景中有着良好的跟踪效果,可以显著提高车辆在路径跟踪过程中的控制精度和通过安全裕度.Aiming at the problem that it is difficult for intelligent vehicles to consider both accuracy and pass safety margin of control in the process of passing through curves or narrow area,a lateral control strategy based on LQR(linear quadratic regulator)of path tracking was proposed.Firstly,vehicle dynamics model was established.Secondly,a controller based on linear quadratic regulator theory was designed for lateral control.To eliminate the steady-state error in the process of lateral control,the feedforward control was added to improve the control accuracy of path tracking.The concept of vehicle body deviation was also proposed to reduce the possibility of collision between the vehicle and the surrounding obstacles,and the constraint of vehicle size was added to the control strategy to improve the pass ability of the vehicle,the control input can ensure the control accuracy and pass safety margin.Finally,the garage scenario and the continuous variable curvature narrow curve scenario containing a variety of curves were constructed in PreScan,and respectively for comparative simulation test with Matlab/Simulink.The simulation results show that the control strategy of the improved linear quadratic regulator has a good tracking effect in the above scenarios and can significantly improve the control accuracy and passing safety margin of vehicles in the process of path tracking.
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