面向复杂道路场景的自动驾驶轨迹跟踪冗余控制  

Redundant Control of Automatic Driving Trajectory Tracking for Complex Road Scenarios

作　　者：曾英 唐晓峰 陆鑫峰 ZENG Ying;TANG Xiaofeng;LU Xinfeng(School of Mechanical Engineering,Yangzhou University,Yangzhou 225127,China)

机构地区：[1]扬州大学机械工程学院,江苏扬州225127

出　　处：《汽车实用技术》2024年第13期11-17,48,共8页Automobile Applied Technology

基　　金：江苏省双创人才经费(337090177);扬州大学高层次人才科研经费(137011947)。

摘　　要：为提高智能车轨迹跟踪的精度及鲁棒性,提出了带有预瞄补偿的自适应线性二次型调节器(LQR)控制算法和轨迹跟踪冗余联合控制策略。首先,建立了车辆二自由度动力学模型和轨迹跟踪误差模型。其次,设计了纵向双比例-积分-微分(PID)控制算法和横向LQR控制算法的轨迹跟踪控制器,采用前馈控制和预瞄PID补偿来消除稳态误差,提出一种基于路径跟踪误差、车速和路径曲率的权重参数计算方法,并基于Stanley算法设计了一种轨迹跟踪冗余控制策略,从而保证车辆的安全高效行驶。最后,通过整合MATLAB/CarSim进行联合仿真,旨在对拟定的控制策略进行验证,确保其有效性和可行性。结果表明,该方案能够有效地提高车辆运动轨迹的精确性和鲁棒性,提高了车辆行驶的安全性和平顺性。In order to improve the precision and robustness of intelligent vehicle track tracking,an adaptive linear quadratic regulator(LQR)control algorithm with preview compensation and a redundant joint control strategy for track tracking are proposed.Firstly,the vehicle two-degreeof-freedom dynamic model and the trajectory tracking error model are established.Secondly,the trajectory tracking controller based on longitudinal proportional-integral-dervivative(PID)control algorithm and horizontal LQR control algorithm is designed.The steady state error is eliminated by feedforward control and preview PID compensation.A weight parameter calculation method based on path tracking error,speed and path curvature is proposed.A redundant control strategy for trajectory tracking is designed based on Stanley algorithm to ensure the safe and efficient running of the vehicle.Finally,a joint simulation with MATLAB/CarSim is carried out to verify the proposed control strategy and ensure its effectiveness and feasibility.The results show that the scheme can effectively improve the accuracy and robustness of the vehicle trajectory,and improve the safety and ride comfort of the vehicle.

关 键 词：智能汽车 轨迹跟踪 横纵向控制 冗余控制 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程]