基于P-PP的轻型商用车路径跟踪控制  

Path Tracking Control of Light Commercial Vehicles Based on P-PP

作　　者：王志红[1,2,3] 曾嘉荣 胡杰 张志凌[1,2,3] 杨东浩 纪越丰 Wang Zhihong;Zeng Jiarong;Hu Jie;Zhang Zhiling;Yang Donghao;Ji Yuefeng(Wuhan University of Technology,Hubei Key Laboratory of Modern Auto Parts Technology,Wuhan 430070;Wuhan University of Technology,Auto Parts Technology Hubei Collaborative Innovation Center,Wuhan 430070;Hubei Technology Research Center of New Energy and Intelligent Connected Vehicle Engineering,Wuhan 430070)

机构地区：[1]武汉理工大学,现代汽车零部件技术湖北省重点实验室,武汉430070 [2]武汉理工大学,汽车零部件技术湖北省协同创新中心,武汉430070 [3]新能源与智能网联车湖北工程技术研究中心,武汉430070

出　　处：《汽车工程》2025年第4期669-679,共11页Automotive Engineering

基　　金：湖北省重大攻关项目(JD2023BAA017)资助。

摘　　要：为提高轻型商用车在复杂曲率工况下路径跟踪的精度和稳定性,本文提出一种预测纯跟踪(predictive-pure persuit,P-PP)控制方法。首先,根据车辆离散运动学模型设计P-PP控制器,并基于航向误差设计PID补偿器,提高跟踪精度与稳定性。其次,针对固定预测时域算法难以在复杂曲率工况下同时保证精度和稳定性的问题,提出变预测时域优化算法,建立以预测时域内的车辆横向误差和曲率误差为代价的评价函数,采用贝叶斯优化获取最优预测时域,解决精度和稳定性之间的矛盾。最后,进行TruckSim/Simulink联合仿真和实车试验,实车试验中基于贝叶斯优化的P-PP控制器的横向、航向误差、转向盘转角均方根分别为0.113 m、0.045 rad、153.2°,均优于基于模糊控制的P-PP和MPC控制器中的相应指标,表明所提出的控制器在复杂曲率下能保持良好的跟踪精度与稳定性。To improve the accuracy and stability of path tracking for light commercial vehicles under complex curvature conditions,in this paper a Predictive-Pure Pursuit(P-PP) control method is proposed.Firstly,a PPP controller is designed based on the vehicle′s discrete kinematic model,and a PID compensator is developed based on heading error to enhance tracking accuracy and stability.Secondly,to address the challenge of maintaining both accuracy and stability under complex curvature conditions with a fixed prediction horizon algorithm,a variable prediction horizon optimization algorithm is proposed.A cost function based on the lateral and curvature errors within the prediction horizon is established,and Bayesian optimization is used to determine the optimal prediction horizon,resolving the conflict between accuracy and stability.Finally,TruckSim/Simulink co-simulation and real vehicle tests are conducted.In the real vehicle tests,the root mean square values of the lateral error,heading error,and steering wheel angle for the Bayesian-optimized P-PP controller is 0.113 m,0.045 rad,and 153.2°,respectively,all of which are superior to the corresponding metrics of the P-PP controller based on fuzzy control and the MPC controller,indicating that the proposed controller maintains good precision and stability under complex curvature conditions.

关 键 词：轻型商用车 路径跟踪 P-PP PID补偿 贝叶斯优化 

分 类 号：U463.6[机械工程—车辆工程]