基于曲率增广的智能车辆轨迹跟踪控制  

Intelligent vehicle trajectory tracking control based on curvature augmentation

作　　者：刘果 熊坚[1] 杨秀建[1] 何扬帆 LIU Guo;XIONG Jian;YANG Xiu-jian;HE Yang-fan(Faculty of Transportation Engineering,Kunming University of Science and Technology,Kunming 650504,China;City College,Kunming University of Science and Technology,Kunming 650051,China)

机构地区：[1]昆明理工大学交通工程学院,昆明650504 [2]昆明理工大学城市学院,昆明650051

出　　处：《吉林大学学报(工学版)》2024年第12期3717-3728,共12页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(52162046)。

摘　　要：设计了一种带转角补偿的曲率增广模型预测控制+比例积分控制器,以提高智能车辆在非直线参考轨迹下的跟踪精度。首先,基于跟踪偏差车辆模型,将曲率作为增广量设计模型预测控制算法,分析了曲率增广对控制器性能的影响。其次,利用李雅普诺夫直接方法获得保证算法稳定的预测时域,计算了稳态误差,并设计了比例积分控制器补偿前轮转角以消除稳态横向偏差。最后,进行了仿真分析,结果表明:本文所设计的控制器在保证稳定性和平顺性的同时,可提高车辆轨迹的跟踪精度且收敛速度更快,在不同极限稳定条件下也能获得较好的控制效果。In order to improve tracking accuracy of intelligent vehicle under non-linear reference trajectories,a curvature augmentation model predictive control/propotional integral controller with front wheel angle compensation was proposed.First,based on tracking deviation vehicle model,model predictive control algorithm was designed by using curvature as augmentation state,and influence of curvature broadening was analyzed.Then,Lyapunov direct method was used to obtain predictive horizon that ensures algorithm stability,and system steady-state error was calculated.To eliminate steady-state lateral deviation,propotional integral controller was designed to compensate front wheel angle.Finally,simulation was conducted and results show that,the designed controller improves trajectory tracking accuracy and achieves better convergence rate,while ensuring stability and smoothness,and obtains good control effect under limit conditions.

关 键 词：自动控制技术 智能车辆 轨迹跟踪 曲率增广模型预测控制 比例积分控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]