基于自抗扰技术的无人驾驶车辆横纵向控制  

Lateral and Longitudinal Control for Unmanned Driving Vehicles with Active Disturbance Rejection Control Technology

作　　者：王浩宇 左志强[1] 王一晶 WANG Haoyu;ZUO Zhiqiang;WANG Yijing(Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System,School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China;Key Laboratory of System Control and Information Processing,Ministry of Education,Shanghai 200240,China)

机构地区：[1]天津大学电气自动化与信息工程学院天津市智能无人集群技术与系统重点实验室,天津300072 [2]系统控制与信息处理教育部重点实验室,上海200240

出　　处：《指挥与控制学报》2024年第5期543-550,共8页Journal of Command and Control

基　　金：国家自然科学基金(62173243,61933014,62403348);天津市自然科学基金(23JCQNJC01780);系统控制与信息处理重点实验室项目(Scip20240116)资助。

摘　　要：随着人们对安全驾驶、通行效率、节能减排等方面需求的日益提高,无人驾驶技术因其巨大的潜力受到了广泛关注。无人驾驶汽车具有非线性动态特性强、参数不确定性大等特点,是一种复杂的多输入多输出欠驱动系统。为解决外部扰动与多种不确定因素影响下的横纵向控制问题,建立了加、减速混合逻辑动力学模型,并提出一种纵向组合抗扰控制器。建立转向滞后模型,设计一种基于跟踪微分器的预估抗扰控制器。通过实车实验进行对比测试以验证算法有效性。所提出的控制策略在抑制扰动的同时实现精准的速度调节控制,可有效解决转向滞后带来的路径跟踪超调问题。With the increasing demand for safe driving,traffic efficiency,energy conservation and emission reduction,etc.unmanned driving technology has received widespread attentions due to its enormous potentials.Unmanned driving vehicle is a complex multi-input,multiple-output underactuated system with strong nonlinear dynamic characteristics and high parameter uncertainty,etc.To deal with the lateral and longitudinal control problem under the influences of external disturbances and multiple kinds of uncertain factors,a mixed logical dynamics model involving acceleration and deceleration is established.And a combined longitudinal disturbance rejection controller is proposed.Second,a steering-lag model is built and a predictive disturbance rejection controller based on tracking differentiator is designed.Finally,the comparison tests are conducted to demonstrate the effectiveness of the algorithm by the real vehicle experiments.The proposed control strategy achieves disturbance rejection and precise velocity regulation control simultaneously,it can effectively solve the overshoot problem for path tracking caused by sterring lag.

关 键 词：无人驾驶 车辆建模 纵向控制 横向控制 自抗扰控制 

分 类 号：U463.6[机械工程—车辆工程]